Articulation drive features for surgical stapler

ABSTRACT

An apparatus comprises a shaft, an end effector, an articulation joint, and an articulation drive assembly. The shaft has a longitudinal axis. The end effector is operable to staple tissue. The articulation joint couples the shaft with the end effector. The end effector is pivotable at the articulation joint to selectively deflect the end effector away from the longitudinal axis of the shaft. The articulation drive assembly is operable to pivot the end effector at the articulation joint. The articulation drive assembly comprises a first link and a second link. The first link is longitudinally translatable relative to the shaft assembly. The distal end of the first link is pivotably coupled with the proximal end of the second link. The distal end of the second link is pivotably coupled with the end effector. The articulation drive assembly articulates the end effector in response to longitudinal translation of the first link.

BACKGROUND

In some settings, endoscopic surgical instruments may be preferred overtraditional open surgical devices since a smaller incision may reducethe post-operative recovery time and complications. Consequently, someendoscopic surgical instruments may be suitable for placement of adistal end effector at a desired surgical site through the cannula of atrocar. These distal end effectors may engage tissue in a number of waysto achieve a diagnostic or therapeutic effect (e.g., endocutter,grasper, cutter, stapler, clip applier, access device, drug/gene therapydelivery device, and energy delivery device using ultrasonic vibration,RF, laser, etc.). Endoscopic surgical instruments may include a shaftbetween the end effector and a handle portion, which is manipulated bythe clinician. Such a shaft may enable insertion to a desired depth androtation about the longitudinal axis of the shaft, thereby facilitatingpositioning of the end effector within the patient. Positioning of anend effector may be further facilitated through inclusion of one or morearticulation joints or features, enabling the end effector to beselectively articulated or otherwise deflected relative to thelongitudinal axis of the shaft.

Examples of endoscopic surgical instruments include surgical staplers.Some such staplers are operable to clamp down on layers of tissue, cutthrough the clamped layers of tissue, and drive staples through thelayers of tissue to substantially seal the severed layers of tissuetogether near the severed ends of the tissue layers. Merely exemplarysurgical staplers are disclosed in U.S. Pat. No. 4,805,823, entitled“Pocket Configuration for Internal Organ Staplers,” issued Feb. 21,1989; U.S. Pat. No. 5,415,334, entitled “Surgical Stapler and StapleCartridge,” issued May 16, 1995; U.S. Pat. No. 5,465,895, entitled“Surgical Stapler Instrument,” issued Nov. 14, 1995; U.S. Pat. No.5,597,107, entitled “Surgical Stapler Instrument,” issued Jan. 28, 1997;U.S. Pat. No. 5,632,432, entitled “Surgical Instrument,” issued May 27,1997; U.S. Pat. No. 5,673,840, entitled “Surgical Instrument,” issuedOct. 7, 1997; U.S. Pat. No. 5,704,534, entitled “Articulation Assemblyfor Surgical Instruments,” issued Jan. 6, 1998; U.S. Pat. No. 5,814,055,entitled “Surgical Clamping Mechanism,” issued Sep. 29, 1998; U.S. Pat.No. 6,978,921, entitled “Surgical Stapling Instrument Incorporating anE-Beam Firing Mechanism,” issued Dec. 27, 2005; U.S. Pat. No. 7,000,818,entitled “Surgical Stapling Instrument Having Separate Distinct Closingand Firing Systems,” issued Feb. 21, 2006; U.S. Pat. No. 7,143,923,entitled “Surgical Stapling Instrument Having a Firing Lockout for anUnclosed Anvil,” issued Dec. 5, 2006; U.S. Pat. No. 7,303,108, entitled“Surgical Stapling Instrument Incorporating a Multi-Stroke FiringMechanism with a Flexible Rack,” issued Dec. 4, 2007; U.S. Pat. No.7,367,485, entitled “Surgical Stapling Instrument Incorporating aMultistroke Firing Mechanism Having a Rotary Transmission,” issued May6, 2008; U.S. Pat. No. 7,380,695, entitled “Surgical Stapling InstrumentHaving a Single Lockout Mechanism for Prevention of Firing,” issued Jun.3, 2008; U.S. Pat. No. 7,380,696, entitled “Articulating SurgicalStapling Instrument Incorporating a Two-Piece E-Beam Firing Mechanism,”issued Jun. 3, 2008; U.S. Pat. No. 7,404,508, entitled “SurgicalStapling and Cutting Device,” issued Jul. 29, 2008; U.S. Pat. No.7,434,715, entitled “Surgical Stapling Instrument Having MultistrokeFiring with Opening Lockout,” issued Oct. 14, 2008; U.S. Pat. No.7,721,930, entitled “Disposable Cartridge with Adhesive for Use with aStapling Device,” issued May 25, 2010; U.S. Pat. No. 8,408,439, entitled“Surgical Stapling Instrument with An Articulatable End Effector,”issued Apr. 2, 2013; and U.S. Pat. No. 8,453,914, entitled “Motor-DrivenSurgical Cutting Instrument with Electric Actuator Directional ControlAssembly,” issued Jun. 4, 2013. The disclosure of each of theabove-cited U.S. patents is incorporated by reference herein.

While the surgical staplers referred to above are described as beingused in endoscopic procedures, it should be understood that suchsurgical staplers may also be used in open procedures and/or othernon-endoscopic procedures. By way of example only, a surgical staplermay be inserted through a thoracotomy, and thereby between a patient'sribs, to reach one or more organs in a thoracic surgical procedure thatdoes not use a trocar as a conduit for the stapler. Such procedures mayinclude the use of the stapler to sever and close a vessel leading to alung. For instance, the vessels leading to an organ may be severed andclosed by a stapler before removal of the organ from the thoraciccavity. Of course, surgical staplers may be used in various othersettings and procedures.

Examples of surgical staplers that may be particularly suited or usethrough a thoracotomy are disclosed in U.S. patent application Ser. No.13/780,067, entitled “Surgical Instrument End Effector ArticulationDrive with Pinion and Opposing Racks,” filed Feb. 28, 2013; U.S. patentapplication Ser. No. 13/780,082, entitled “Lockout Feature for MovableCutting Member of Surgical Instrument,” filed Feb. 28, 2013; U.S. patentapplication Ser. No. 13/780,106, entitled “Integrated Tissue Positioningand Jaw Alignment Features for Surgical Stapler,” filed Feb. 28, 2013;U.S. patent application Ser. No. 13/780,120, entitled “Jaw ClosureFeature for End Effector of Surgical Instrument,” filed Feb. 28, 2013;U.S. patent application Ser. No. 13/780,162, entitled “SurgicalInstrument with Articulation Lock having a Detenting Binary Spring,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,171,entitled “Distal Tip Features for End Effector of Surgical Instrument,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,379,entitled “Staple Forming Features for Surgical Stapling Instrument,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,402,entitled “Surgical Instrument with Multi-Diameter Shaft,” filed Feb. 28,2013; and U.S. patent application Ser. No. 13/780,417, entitled“Installation Features for Surgical Instrument End Effector Cartridge,”filed Feb. 28, 2013. The disclosure of each of the above-cited U.S.patent applications is incorporated by reference herein.

While various kinds of surgical stapling instruments and associatedcomponents have been made and used, it is believed that no one prior tothe inventor(s) has made or used the invention described in the appendedclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the invention,and, together with the general description of the invention given above,and the detailed description of the embodiments given below, serve toexplain the principles of the present invention.

FIG. 1 depicts a perspective view of an exemplary articulating surgicalstapling instrument;

FIG. 2 depicts a side elevational view of the instrument of FIG. 1;

FIG. 3 depicts a perspective view of an end effector of the instrumentof FIG. 1, with the end effector in a closed configuration;

FIG. 4 depicts a perspective view of the end effector of FIG. 3, withthe end effector in an open configuration;

FIG. 5 depicts an exploded perspective view of the end effector of FIG.3;

FIG. 6 depicts a cross-sectional end view of the end effector of FIG. 3,taken along line 6-6 of FIG. 4;

FIG. 7A depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with the firing beam in a proximalposition;

FIG. 7B depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with the firing beam in a distalposition;

FIG. 8 depicts a perspective view of the end effector of FIG. 3,positioned at tissue and having been actuated once in the tissue;

FIG. 9 depicts a schematic view of an exemplary control circuit for usein the instrument of FIG. 1;

FIG. 10 depicts a perspective view of the handle assembly of theinstrument of FIG. 1, with a housing half and some internal componentsremoved;

FIG. 11 depicts a perspective view of drive assembly components from thehandle assembly of FIG. 10;

FIG. 12 depicts a perspective view of an elongate member from the driveassembly of FIG. 11, coupled with the firing beam;

FIG. 13 depicts a top, perspective view of an exemplary alternativeshaft assembly that may be incorporated into the instrument of FIG. 1;

FIG. 14A depicts a top, plan view of the shaft assembly of FIG. 13 withthe end effector in a first, straight position;

FIG. 14B depicts a top, plan view of the shaft assembly of FIG. 13 withthe end effector in a second, articulated position;

FIG. 15 depicts a perspective view of the proximal end of the shaftassembly of FIG. 13 showing the articulation knob and internal kinematiccomponents;

FIG. 16 depicts a top cross sectional view of the proximal end of theshaft assembly of FIG. 13 taken along the line 16-16 of FIG. 15;

FIG. 17 depicts a top, plan view of the shaft assembly of FIG. 13 in aneutral position;

FIG. 18 depicts a perspective, exploded view of the end effector and thearticulation joint of the shaft assembly of FIG. 13;

FIG. 19A depicts a top, partially internal view of the articulationjoint of the shaft assembly of FIG. 13 in a first position;

FIG. 19B depicts a top, partially internal view of the articulationjoint of the shaft assembly of FIG. 13 with the first and second armsrotating a first cam member;

FIG. 19C depicts a top, partially internal view of the articulationjoint of the shaft assembly of FIG. 13 with the first and second armsrotating a second cam member and the first cam member further;

FIG. 19D depicts a top, partially internal view of the articulationjoint of the shaft assembly of FIG. 13 with a lock bar resilientlypositioning a lock tooth between teeth of the first cam member and thesecond cam member;

FIG. 19E depicts a top, partially internal view of the articulationjoint of the shaft assembly of FIG. 13 with the first and second armsrotating the first cam member yet even further;

FIG. 20 depicts a plan, enlarged view of the interface of the cammembers and the lock bar of the shaft assembly of FIG. 13;

FIG. 21A depicts a partial, top plan view of exemplary alternativearticulation drive features that may be incorporated into thearticulation section of the shaft assembly of FIG. 13, with thearticulation section in a straight configuration;

FIG. 21B depicts a partial, top plan view of the articulation drivefeatures of FIG. 21A, with the articulation section in a firstarticulated configuration;

FIG. 21C depicts a partial, top plan view of the articulation drivefeatures of FIG. 21A, with the articulation section in a secondarticulated configuration

FIG. 22A depicts a partial, top plan view of other exemplary alternativearticulation drive features that may be incorporated into thearticulation section of the shaft assembly of FIG. 13, with thearticulation section in a straight configuration;

FIG. 22B depicts a partial, top plan view of the articulation drivefeatures of FIG. 22A, with the articulation section in a firstarticulated configuration;

FIG. 23A depicts a partial, top plan view of other exemplary alternativearticulation drive features that may be incorporated into thearticulation section of the shaft assembly of FIG. 13, with thearticulation section in a straight configuration;

FIG. 23B depicts a partial, top plan view of the articulation drivefeatures of FIG. 23A, with the articulation section in a firstarticulated configuration;

FIG. 24A depicts a partial, top plan view of other exemplary alternativearticulation drive features that may be incorporated into thearticulation section of the shaft assembly of FIG. 13, with thearticulation section in a straight configuration;

FIG. 24B depicts a partial, top plan view of the articulation drivefeatures of FIG. 24A, with the articulation section in a firstarticulated configuration;

FIG. 25 depicts a partial, top plan view of other exemplary alternativearticulation drive features that may be incorporated into thearticulation section of the shaft assembly of FIG. 13; and

FIG. 26 depicts a partial, cross-sectional side view of some of thearticulation drive features of FIG. 25.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the invention may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presentinvention, and together with the description serve to explain theprinciples of the invention; it being understood, however, that thisinvention is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the invention shouldnot be used to limit the scope of the present invention. Other examples,features, aspects, embodiments, and advantages of the invention willbecome apparent to those skilled in the art from the followingdescription, which is by way of illustration, one of the best modescontemplated for carrying out the invention. As will be realized, theinvention is capable of other different and obvious aspects, all withoutdeparting from the invention. Accordingly, the drawings and descriptionsshould be regarded as illustrative in nature and not restrictive.

I. Exemplary Surgical Stapler

FIG. 1 depicts an exemplary surgical stapling and severing instrument(10) that includes a handle assembly (20), a shaft assembly (30), and anend effector (40). End effector (40) and the distal portion of shaftassembly (30) are sized for insertion, in a nonarticulated state asdepicted in FIG. 1, through a trocar cannula to a surgical site in apatient for performing a surgical procedure. By way of example only,such a trocar may be inserted in a patient's abdomen, between two of thepatient's ribs, or elsewhere. In some settings, instrument (10) is usedwithout a trocar. For instance, end effector (40) and the distal portionof shaft assembly (30) may be inserted directly through a thoracotomy orother type of incision. It should be understood that terms such as“proximal” and “distal” are used herein with reference to a cliniciangripping handle assembly (20) of instrument (10). Thus, end effector(40) is distal with respect to the more proximal handle assembly (20).It will be further appreciated that for convenience and clarity, spatialterms such as “vertical” and “horizontal” are used herein with respectto the drawings. However, surgical instruments are used in manyorientations and positions, and these terms are not intended to belimiting and absolute.

A. Exemplary Handle Assembly and Shaft Assembly

As shown in FIGS. 1-2, handle assembly (20) of the present examplecomprises pistol grip (22), a closure trigger (24), and a firing trigger(26). Each trigger (24, 26) is selectively pivotable toward and awayfrom pistol grip (22) as will be described in greater detail below.Handle assembly (20) further includes an anvil release button (25), afiring beam reverse switch (27), and a removable battery pack (28).These components will also be described in greater detail below. Ofcourse, handle assembly (20) may have a variety of other components,features, and operabilities, in addition to or in lieu of any of thosenoted above. Other suitable configurations for handle assembly (20) willbe apparent to those of ordinary skill in the art in view of theteachings herein. Furthermore, it should be understood that handleassembly (20) is merely an exemplary type of body assembly that can beincluded within instrument (10) and instrument (10) may comprise anyother suitable body assembly in addition to or instead of handleassembly (20), including but not limited to a body assembly configuredto allow instrument (10) to be used during robotic-assisted medicaltreatments and procedures.

As shown in FIGS. 1-3, shaft assembly (30) of the present examplecomprises an outer closure tube (32), an articulation section (34), anda closure ring (36), which is further coupled with end effector (40).Closure tube (32) extends along the length of shaft assembly (30).Closure ring (36) is positioned distal to articulation section (34).Closure tube (32) and closure ring (36) are configured to translatelongitudinally relative to handle assembly (20). Longitudinaltranslation of closure tube (32) is communicated to closure ring (36)via articulation section (34). Exemplary features that may be used toprovide longitudinal translation of closure tube (32) and closure ring(36) will be described in greater detail below.

It will be appreciated that as a user urges instrument (10) into asurgical region, it may be desirable to approach the tissue to beclamped, stapled, or cut, from a particular angle. For instance, onceend effector (40) of instrument (10) is inserted through a trocar,thoracotomy, or other passageway for entering a surgical area, thetissue that the user wishes to target may be positioned out of reach orat an askew angle in relation to end effector (40) that is aligned withclosure tube (32). Thus, it may be desirable for portions of instrument(10), such as end effector (40), to articulate such that the user canposition end effector (40) to squarely or perpendicularly clamp againsta vessel or other tissue. It will further be understood thatarticulating end effector (40) to squarely position end effector (40)against tissue may promote full seating and clamping of the tissue priorto cutting and stapling tissue. In addition to articulating, it may bedesirable for end effector (12) to be selectively locked in a straightor articulated position such that a constant manual bias by the user isnot necessary to prevent end effector (12) from pivoting or bending atarticulation section (34). It may also be desirable to automaticallylock upon articulation, without requiring actuations of a separatearticulation locking feature.

Articulation section (34) is operable to laterally deflect closure ring(36) and end effector (40) laterally away from the longitudinal axis(LA) of shaft assembly (30) at a desired angle (α). End effector (40)may thereby reach behind an organ or approach tissue from a desiredangle or for other reasons. In some versions, articulation section (34)enables deflection of end effector (40) along a single plane. In someother versions, articulation section (34) enables deflection of endeffector along more than one plane. In the present example, articulationis controlled through an articulation control knob (35) which is locatedat the proximal end of shaft assembly (30). Knob (35) is rotatable aboutan axis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30). Closure ring (36) and end effector (40) pivot about anaxis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30) in response to rotation of knob (35). By way of exampleonly, rotation of knob (35) clockwise may cause corresponding clockwisepivoting of closure ring (36) and end effector (40) at articulationsection (34). Articulation section (34) is configured to communicatelongitudinal translation of closure tube (32) to closure ring (36),regardless of whether articulation section (34) is in a straightconfiguration or an articulated configuration.

In some versions, articulation section (34) and/or articulation controlknob (35) are/is constructed and operable in accordance with at leastsome of the teachings of U.S. patent application Ser. No. 13/780,067,entitled “Surgical Instrument End Effector Articulation Drive withPinion and Opposing Racks,” filed Feb. 28, 2013, the disclosure of whichis incorporated by reference herein. As yet another merely illustrativeexample, articulation section (34) may also be constructed and operablein accordance with at least some of the teachings of U.S. patentapplication Ser. No. 13/780,402, entitled “Surgical Instrument withArticulation Lock Having a Detenting Binary Spring,” filed Feb. 28,2013, the disclosure of which is incorporated by reference herein.Articulation section (34) may also be constructed and operable inaccordance with at least some of the teachings of U.S. Pat. App. No.[Attorney Docket Number END7431USNP.0614277], entitled “Method ofUnlocking Articulation Joint in Surgical Stapler,” filed on even dateherewith, the disclosure of which is incorporated by reference herein;and/or at least some of the teachings below. Other suitable forms thatarticulation section (34) and articulation knob (35) may take will beapparent to those of ordinary skill in the art in view of the teachingsherein.

As shown in FIGS. 1-2, shaft assembly (30) of the present examplefurther includes a rotation knob (31). Rotation knob (31) is operable torotate the entire shaft assembly (30) and end effector (40) relative tohandle assembly (20) about the longitudinal axis (LA) of shaft assembly(30). In some versions, rotation knob (31) is operable to selectivelylock the angular position of shaft assembly (30) and end effector (40)relative to handle assembly (20) about the longitudinal axis (LA) ofshaft assembly (30). For instance, rotation knob (31) may betranslatable between a first longitudinal position, in which shaftassembly (30) and end effector (40) are rotatable relative to handleassembly (20) about the longitudinal axis (LA) of shaft assembly (30);and a second longitudinal position, in which shaft assembly (30) and endeffector (40) are not rotatable relative to handle assembly (20) aboutthe longitudinal axis (LA) of shaft assembly (30). Of course, shaftassembly (30) may have a variety of other components, features, andoperabilities, in addition to or in lieu of any of those noted above. Byway of example only, at least part of shaft assembly (30) is constructedin accordance with at least some of the teachings of U.S. patentapplication Ser. No. 13/780,402, entitled “Surgical Instrument withMulti-Diameter Shaft,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein. Other suitable configurations forshaft assembly (30) will be apparent to those of ordinary skill in theart in view of the teachings herein.

B. Exemplary End Effector

As also shown in FIGS. 1-3, end effector (40) of the present exampleincludes a lower jaw (50) and a pivotable anvil (60). Anvil (60)includes a pair of integral, outwardly extending pins (66) that aredisposed in corresponding curved slots (54) of lower jaw (50). Pins (66)and slots (54) are shown in FIG. 5. Anvil (60) is pivotable toward andaway from lower jaw (50) between an open position (shown in FIGS. 2 and4) and a closed position (shown in FIGS. 1, 3, and 7A-7B). Use of theterm “pivotable” (and similar terms with “pivot” as a base) should notbe read as necessarily requiring pivotal movement about a fixed axis.For instance, in the present example, anvil (60) pivots about an axisthat is defined by pins (66), which slide along curved slots (54) oflower jaw (50) as anvil (60) moves toward lower jaw (50). In suchversions, the pivot axis translates along the path defined by slots (54)while anvil (60) simultaneously pivots about that axis. In addition orin the alternative, the pivot axis may slide along slots (54) first,with anvil (60) then pivoting about the pivot axis after the pivot axishas slid a certain distance along the slots (54). It should beunderstood that such sliding/translating pivotal movement is encompassedwithin terms such as “pivot,” “pivots,” “pivotal,” “pivotable,”“pivoting,” and the like. Of course, some versions may provide pivotalmovement of anvil (60) about an axis that remains fixed and does nottranslate within a slot or channel, etc.

As best seen in FIG. 5, lower jaw (50) of the present example defines achannel (52) that is configured to receive a staple cartridge (70).Staple cartridge (70) may be inserted into channel (52), end effector(40) may be actuated, and then staple cartridge (70) may be removed andreplaced with another staple cartridge (70). Lower jaw (50) thusreleasably retains staple cartridge (70) in alignment with anvil (60)for actuation of end effector (40). In some versions, lower jaw (50) isconstructed in accordance with at least some of the teachings of U.S.patent application Ser. No. 13/780,417, entitled “Installation Featuresfor Surgical Instrument End Effector Cartridge,” filed Feb. 28, 2013,the disclosure of which is incorporated by reference herein. Othersuitable forms that lower jaw (50) may take will be apparent to those ofordinary skill in the art in view of the teachings herein.

As best seen in FIGS. 4-6, staple cartridge (70) of the present examplecomprises a cartridge body (71) and a tray (76) secured to the undersideof cartridge body (71). The upper side of cartridge body (71) presents adeck (73), against which tissue may be compressed when anvil (60) is ina closed position. Cartridge body (71) further defines a longitudinallyextending channel (72) and a plurality of staple pockets (74). A staple(77) is positioned in each staple pocket (74). A staple driver (75) isalso positioned in each staple pocket (74), underneath a correspondingstaple (77), and above tray (76). As will be described in greater detailbelow, staple drivers (75) are operable to translate upwardly in staplepockets (74) to thereby drive staples (77) upwardly through staplepockets (74) and into engagement with anvil (60). Staple drivers (75)are driven upwardly by a wedge sled (78), which is captured betweencartridge body (71) and tray (76), and which translates longitudinallythrough cartridge body (71). Wedge sled (78) includes a pair ofobliquely angled cam surfaces (79), which are configured to engagestaple drivers (75) and thereby drive staple drivers (75) upwardly aswedge sled (78) translates longitudinally through cartridge (70). Forinstance, when wedge sled (78) is in a proximal position as shown inFIG. 7A, staple drivers (75) are in downward positions and staples (77)are located in staple pockets (74). As wedge sled (78) is driven to thedistal position shown in FIG. 7B by a translating knife member (80),wedge sled (78) drives staple drivers (75) upwardly, thereby drivingstaples (77) out of staple pockets (74) and into staple forming pockets(64). Thus, staple drivers (75) translate along a vertical dimension aswedge sled (78) translates along a horizontal dimension.

It should be understood that the configuration of staple cartridge (70)may be varied in numerous ways. For instance, staple cartridge (70) ofthe present example includes two longitudinally extending rows of staplepockets (74) on one side of channel (72); and another set of twolongitudinally extending rows of staple pockets (74) on the other sideof channel (72). However, in some other versions, staple cartridge (70)includes three, one, or some other number of staple pockets (74) on eachside of channel (72). In some versions, staple cartridge (70) isconstructed and operable in accordance with at least some of theteachings of U. U.S. patent application Ser. No. 13/780,106, entitled“Integrated Tissue Positioning and Jaw Alignment Features for SurgicalStapler,” filed Feb. 28, 2013, the disclosure of which is incorporatedby reference herein. In addition or in the alternative, staple cartridge(70) may be constructed and operable in accordance with at least some ofthe teachings of U.S. patent application Ser. No. 13/780,417, entitled“Installation Features for Surgical Instrument End Effector Cartridge,”filed Feb. 28, 2013, the disclosure of which is incorporated byreference herein. Other suitable forms that staple cartridge (70) maytake will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

As best seen in FIG. 4, anvil (60) of the present example comprises alongitudinally extending channel (62) and a plurality of staple formingpockets (64). Channel (62) is configured to align with channel (72) ofstaple cartridge (70) when anvil (60) is in a closed position. Eachstaple forming pocket (64) is positioned to lie over a correspondingstaple pocket (74) of staple cartridge (70) when anvil (60) is in aclosed position. Staple forming pockets (64) are configured to deformthe legs of staples (77) when staples (77) are driven through tissue andinto anvil (60). In particular, staple forming pockets (64) areconfigured to bend the legs of staples (77) to secure the formed staples(77) in the tissue. Anvil (60) may be constructed in accordance with atleast some of the teachings of U.S. patent application Ser. No.13/780,106, entitled “Integrated Tissue Positioning and Jaw AlignmentFeatures for Surgical Stapler,” filed Feb. 28, 2013; at least some ofthe teachings of U.S. patent application Ser. No. 13/780,120, entitled“Jaw Closure Feature for End Effector of Surgical Instrument,” filedFeb. 28, 2013; and/or at least some of the teachings of U.S. patentapplication Ser. No. 13/780,379, entitled “Staple Forming Features forSurgical Stapling Instrument,” filed Feb. 28, 2013, the disclosure ofwhich is incorporated by reference herein. Other suitable forms thatanvil (60) may take will be apparent to those of ordinary skill in theart in view of the teachings herein.

In the present example, a knife member (80) is configured to translatethrough end effector (40). As best seen in FIGS. 5 and 7A-7B, knifemember (80) is secured to the distal end of a firing beam (82), whichextends through a portion of shaft assembly (30). As best seen in FIGS.4 and 6, knife member (80) is positioned in channels (62, 72) of anvil(60) and staple cartridge (70). Knife member (80) includes a distallypresented cutting edge (84) that is configured to sever tissue that iscompressed between anvil (60) and deck (73) of staple cartridge (70) asknife member (80) translates distally through end effector (40). Asnoted above and as shown in FIGS. 7A-7B, knife member (80) also driveswedge sled (78) distally as knife member (80) translates distallythrough end effector (40), thereby driving staples (77) through tissueand against anvil (60) into formation. Various features that may be usedto drive knife member (80) distally through end effector (40) will bedescribed in greater detail below.

In some versions, end effector (40) includes lockout features that areconfigured to prevent knife member (80) from advancing distally throughend effector (40) when a staple cartridge (70) is not inserted in lowerjaw (50). In addition or in the alternative, end effector (40) mayinclude lockout features that are configured to prevent knife member(80) from advancing distally through end effector (40) when a staplecartridge (70) that has already been actuated once (e.g., with allstaples (77) deployed therefrom) is inserted in lower jaw (50). By wayof example only, such lockout features may be configured in accordancewith at least some of the teachings of U.S. patent application Ser. No.13/780,082, entitled “Lockout Feature for Movable Cutting Member ofSurgical Instrument,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein; and/or at least some of the teachingsof U.S. Pat. App. No. [Attorney Docket Number END7428USNP.0614271],entitled “Method of Using Lockout Features for Surgical StaplerCartridge,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Other suitable forms that lockoutfeatures may take will be apparent to those of ordinary skill in the artin view of the teachings herein. Alternatively, end effector (40) maysimply omit such lockout features.

C. Exemplary Actuation of Anvil

In the present example, anvil (60) is driven toward lower jaw (50) byadvancing closure ring (36) distally relative to end effector (40).Closure ring (36) cooperates with anvil (60) through a camming action todrive anvil (60) toward lower jaw (50) in response to distal translationof closure ring (36) relative to end effector (40). Similarly, closurering (36) may cooperate with anvil (60) to open anvil (60) away fromlower jaw (50) in response to proximal translation of closure ring (36)relative to end effector (40). By way of example only, closure ring (36)and anvil (60) may interact in accordance with at least some of theteachings of U.S. patent application Ser. No. 13/780,120, entitled “JawClosure Feature for End Effector of Surgical Instrument,” filed Feb. 28,2013, the disclosure of which is incorporated by reference herein;and/or in accordance with at least some of the teachings of U.S. PatentApp. No. [Attorney Docket Number END7430USNP.0614275], entitled “JawOpening Feature for Surgical Stapler,” filed on even date herewith, thedisclosure of which is incorporated by reference herein. Exemplaryfeatures that may be used to provide longitudinal translation of closurering (36) relative to end effector (40) will be described in greaterdetail below.

As noted above, handle assembly (20) includes a pistol grip (22) and aclosure trigger (24). As also noted above, anvil (60) is closed towardlower jaw (50) in response to distal advancement of closure ring (36).In the present example, closure trigger (24) is pivotable toward pistolgrip (22) to drive closure tube (32) and closure ring (36) distally.Various suitable components that may be used to convert pivotal movementof closure trigger (24) toward pistol grip (22) into distal translationof closure tube (32) and closure ring (36) relative to handle assembly(20) will be apparent to those of ordinary skill in the art in view ofthe teachings herein. When closure trigger (24) reaches a fully pivotedstate, such that anvil (60) is in a fully closed position relative tolower jaw (50), locking features in handle assembly (20) lock theposition of trigger (24) and closure tube (32), thereby locking anvil(60) in a fully closed position relative to lower jaw (50). Theselocking features are released by actuation of anvil release button (25).Anvil release button (25) is configured and positioned to be actuated bythe thumb of the operator hand that grasps pistol grip (22). In otherwords, the operator may grasp pistol grip (22) with one hand, actuateclosure trigger (24) with one or more fingers of the same hand, and thenactuate anvil release button (25) with the thumb of the same hand,without ever needing to release the grasp of pistol grip (22) with thesame hand. Other suitable features that may be used to actuate anvil(60) will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

D. Exemplary Actuation of Firing Beam

In the present example, instrument (10) provides motorized control offiring beam (82). FIGS. 9-12 show exemplary components that may be usedto provide motorized control of firing beam (82). In particular, FIG. 9shows an exemplary control circuit (100) that may be used to power anelectric motor (102) with electric power from a battery pack (28) (alsoshown in FIGS. 1-2). Electric motor (102) is operable to translatefiring beam (82) longitudinally as will be described in greater detailbelow. It should be understood that the entire control circuit (100),including motor (102) and battery pack (28), may be housed within handleassembly (20). FIG. 9 shows firing trigger (26) as an open switch,though it should be understood that this switch is closed when firingtrigger (26) is actuated. Circuit (100) of this example also includes asafety switch (106) that must be closed in order to complete circuit(100), though it should be understood that safety switch (106) is merelyoptional. Safety switch (106) may be closed by actuating a separatebutton, slider, or other feature on handle assembly (20). Safety switch(106) may also provide a mechanical lockout of firing trigger (26), suchthat firing trigger (26) is mechanically blocked from actuation untilsafety switch (106) is actuated.

Circuit (100) of the present example also includes a lockout switch(108), which is configured to be closed by default but is automaticallyopened in response to a lockout condition. By way of example only, alockout condition may include one or more of the following: the absenceof a cartridge (70) in lower jaw (50), the presence of a spent (e.g.,previously fired) cartridge (70) in lower jaw (50), an insufficientlyclosed anvil (60), a determination that instrument (10) has been firedtoo many times, and/or any other suitable conditions. Various sensors,algorithms, and other features that may be used to detect lockoutconditions will be apparent to those of ordinary skill in the art inview of the teachings herein. Similarly, other suitable kinds of lockoutconditions will be apparent to those of ordinary skill in the art inview of the teachings herein. It should be understood that circuit (100)is opened and thus motor (102) is inoperable when lockout switch (108)is opened. A lockout indicator (110) (e.g., an LED, etc.) is operable toprovide a visual indication of the status of lockout switch (108). Byway of example only, lockout switch (108), lockout indicator (110), andassociated components/functionality may be configured in accordance withat least some of the teachings of U.S. Pat. No. 7,644,848, entitled“Electronic Lockouts and Surgical Instrument Including Same,” issuedJan. 12, 2010, the disclosure of which is incorporated by referenceherein.

Once firing beam (82) reaches a distal-most position (e.g., at the endof a cutting stroke), an end-of-stroke switch (112) is automaticallyswitched to a closed position, reversing the polarity of the voltageapplied to motor (102). This reverses the direction of rotation of motor(102), it being understood that the operator will have released firingtrigger (26) at this stage of operation. In this operational state,current flows through a reverse direction indicator (114) (e.g., an LED,etc.) to provide a visual indication to the operator that motor (102)rotation has been reversed. In the present example, and as best seen inFIG. 12, a switch actuation arm (134) extends laterally from rack member(130), and is positioned to engage end-of-stroke switch (112) whenfiring beam (82) reaches a distal-most position (e.g., after tissue (90)has been severed and staples (77) have been driven into tissue (90)).Various other suitable ways in which end-of-stroke switch (112) may beautomatically switched to a closed position when firing beam (82)reaches a distal-most position will be apparent to those of ordinaryskill in the art in view of the teachings herein. Similarly, varioussuitable forms that reverse direction indicator (114) may take will beapparent to those of ordinary skill in the art in view of the teachingsherein.

Handle assembly (20) of the present example also includes a manualreturn switch (116), which is also shown in circuit (100). In thepresent example, return switch (116) is activated by actuating reverseswitch (27), which is shown on handle assembly (20) in FIG. 1. Manualreturn switch (116) may provide functionality similar to end-of-strokeswitch (112), reversing the polarity of the voltage applied to motor(102) to thereby reverse the direction of rotation of motor (102).Again, this reversal may be visually indicated through reverse directionindicator (114). In some versions, handle assembly (20) further includesa mechanical return feature that enables the operator to manuallyreverse firing beam (82) and thereby retract firing beam (82)mechanically. In the present example, this manual return featurecomprises a lever that is covered by a removable panel (21) as shown inFIG. 1. Manual return switch (116) and the mechanical return feature areeach configured to act as a “bailout” feature, enabling the operator toquickly begin retracting firing beam (82) proximally during a firingstroke. In other words, manual return switch (116) or the mechanicalreturn feature may be actuated when firing beam (82) has only beenpartially advanced distally.

In some versions, one or more of switches (26, 106, 108, 112, 116) arein the form of microswitches. Other suitable forms will be apparent tothose of ordinary skill in the art in view of the teachings herein. Inaddition to or in lieu of the foregoing, at least part of circuit (100)may be configured in accordance with at least some of the teachings ofU.S. Pat. No. 8,210,411, entitled “Motor-Driven Surgical Instrument,”issued Jul. 3, 2012, the disclosure of which is incorporated byreference herein.

FIG. 10 shows motor (102) positioned within pistol grip (22) of handleassembly (20). Alternatively, motor (102) may be positioned elsewherewithin handle assembly (20). Motor (102) has a drive shaft (120) that iscoupled with a gear assembly (122). Thus, when motor (102) is activated,drive shaft (120) actuates gear assembly (122). As shown in FIG. 11,gear assembly (122) is in communication with a drive gear (124), whichmeshes with an idler pinion (126). Pinion (126) is disposed on a shaft(128) that is supported within handle assembly (20) and that is orientedparallel to drive shaft (120) of motor (102). Pinion (126) is furtherengaged with a rack member (130). In particular, pinion (126) mesheswith teeth (132) at the proximal end of rack member (130). Rack member(130) is slidably supported in handle assembly (20). It should beunderstood from the foregoing that, when motor (102) is activated, thecorresponding rotation of drive shaft (120) is communicated to pinion(126) via gear assembly (122), and the corresponding rotation of pinion(126) is converted to translation of rack member (130) by teeth (132).As shown in FIGS. 10-12, an elongate member (136) extends distally fromrack member (130). As shown in FIG. 12, a coupling member (138) joinsfiring beam (82) with elongate member (136). Rack member (130), elongatemember (136), coupling member (138), firing beam (82), and knife member(80) all translate together relative to handle assembly (20) in responseto activation of motor (102). In other words, activation of motor (102)ultimately causes firing beam (82) to translate longitudinally, thedirection of such translation depending on the direction of rotation ofdrive shaft (120).

It should be understood that a distal portion of elongate member (136),coupling member (138), and firing beam (82) extend through shaftassembly (130). A portion of firing beam (82) also extends througharticulation section (34). In some versions, rack member (130), elongatemember (136), and coupling member (138) are all substantially straightand rigid; while firing beam (82) has sufficient flexibility to bend atarticulation section (34) and translate longitudinally througharticulation section (34) when articulation section (34) is in a bent orarticulated state.

In addition to or in lieu of the foregoing, the features operable todrive firing beam (82) may be configured in accordance with at leastsome of the teachings of U.S. Pat. No. 8,453,914, the disclosure ofwhich is incorporated by reference herein. Other suitable components,features, and configurations for providing motorization of firing beam(82) will be apparent to those of ordinary skill in the art in view ofthe teachings herein. It should also be understood that some otherversions may provide manual driving of firing beam (82), such that amotor may be omitted. By way of example only, firing beam (82) may beactuated in accordance with at least some of the teachings of any otherreference cited herein.

FIG. 8 shows end effector (40) having been actuated through a singlestroke through tissue (90). As shown, cutting edge (84) (obscured inFIG. 8) has cut through tissue (90), while staple drivers (75) havedriven two alternating rows of staples (77) through the tissue (90) oneach side of the cut line produced by cutting edge (84). Staples (77)are all oriented substantially parallel to the cut line in this example,though it should be understood that staples (77) may be positioned atany suitable orientations. In the present example, end effector (40) iswithdrawn from the trocar after the first stroke is complete, the spentstaple cartridge (70) is replaced with a new staple cartridge (70), andend effector (40) is then again inserted through the trocar to reach thestapling site for further cutting and stapling. This process may berepeated until the desired amount of cuts and staples (77) have beenprovided. Anvil (60) may need to be closed to facilitate insertion andwithdrawal through the trocar; and anvil (60) may need to be opened tofacilitate replacement of staple cartridge (70).

It should be understood that cutting edge (84) may sever tissuesubstantially contemporaneously with staples (77) being driven throughtissue during each actuation stroke. In the present example, cuttingedge (84) just slightly lags behind driving of staples (77), such that astaple (47) is driven through the tissue just before cutting edge (84)passes through the same region of tissue, though it should be understoodthat this order may be reversed or that cutting edge (84) may bedirectly synchronized with adjacent staples. While FIG. 8 shows endeffector (40) being actuated in two layers (92, 94) of tissue (90), itshould be understood that end effector (40) may be actuated through asingle layer of tissue (90) or more than two layers (92, 94) of tissue.It should also be understood that the formation and positioning ofstaples (77) adjacent to the cut line produced by cutting edge (84) maysubstantially seal the tissue at the cut line, thereby reducing orpreventing bleeding and/or leaking of other bodily fluids at the cutline. Furthermore, while FIG. 8 shows end effector (40) being actuatedin two substantially flat, apposed planar layers (92, 94) of tissue, itshould be understood that end effector (40) may also be actuated acrossa tubular structure such as a blood vessel, a section of thegastrointestinal tract, etc. FIG. 8 should therefore not be viewed asdemonstrating any limitation on the contemplated uses for end effector(40). Various suitable settings and procedures in which instrument (10)may be used will be apparent to those of ordinary skill in the art inview of the teachings herein.

It should also be understood that any other components or features ofinstrument (10) may be configured and operable in accordance with any ofthe various references cited herein. Additional exemplary modificationsthat may be provided for instrument (10) will be described in greaterdetail below. Various suitable ways in which the below teachings may beincorporated into instrument (10) will be apparent to those of ordinaryskill in the art. Similarly, various suitable ways in which the belowteachings may be combined with various teachings of the references citedherein will be apparent to those of ordinary skill in the art. It shouldalso be understood that the below teachings are not limited toinstrument (10) or devices taught in the references cited herein. Thebelow teachings may be readily applied to various other kinds ofinstruments, including instruments that would not be classified assurgical staplers. Various other suitable devices and settings in whichthe below teachings may be applied will be apparent to those of ordinaryskill in the art in view of the teachings herein.

II. Exemplary Alternative Shaft Assembly

FIGS. 13-20 show components of an exemplary alternative shaft assembly(200) that may be readily incorporated into instrument (10) in place ofshaft assembly (30). Shaft assembly (200) is substantially identical toshaft assembly (30) except for the differences noted below. Shaftassembly (200) provides articulation and selective locking ofarticulation angles, as will be described in greater detail below. Shaftassembly (200) of the present example comprises a rotation knob (213),and articulation control knob (214), and an end effector (212). Rotationknob (213) is operable to rotate the entire shaft assembly (200) and endeffector (212) relative to handle assembly (20) about the longitudinalaxis (LA) of shaft assembly (200). This may be useful in positioning endeffector (212) at a desired angular orientation about the longitudinalaxis (LA) to achieve a desired positioning in relation to target tissue.In some versions, rotation knob (213) is operable to selectively lockthe angular position of shaft assembly (200) and end effector (212)relative to handle assembly (20) about the longitudinal axis (LA) ofshaft assembly (200). For instance, rotation knob (213) may betranslatable between a first longitudinal position, in which shaftassembly (200) and end effector (212) are rotatable relative to handleassembly (20) about the longitudinal axis (LA) of shaft assembly (200);and a second longitudinal position, in which shaft assembly (200) andend effector (212) are not rotatable relative to handle assembly (20)about the longitudinal axis (LA) of shaft assembly (200).

Articulation control knob (214) is partially contained within anarticulation knob casing (215). Casing (215) leads to an elongateclosure tube (232). Shaft assembly (200) also comprises an end effector(212) positioned distally in relation to closure tube (232). Endeffector (212) includes an articulation joint (211) which allows endeffector (212) to articulate laterally as will be described in furtherdetail below. End effector (212) is substantially identical to endeffector (40) except as otherwise described below. It should beunderstood that one difference between shaft assembly (30) and shaftassembly (200) is that articulation control knob (214) is at the sameangular position about the longitudinal axis (LA) of shaft assembly(200) as lower jaw (216) in shaft assembly (200). By contrast,articulation control knob (35) is at the same angular position about thelongitudinal axis (LA) of shaft assembly (30) as anvil (60) in shaftassembly (30).

FIGS. 14A-B show shaft assembly (200) and an exemplary movement of endeffector (212) in response to turning of articulation control knob(214). FIG. 14A shows articulation control knob (214) in a firstposition where articulation control knob (214) and end effector (212)are both generally aligned along the longitudinal axis (LA) of shaftassembly (200). The user may then manually rotate articulation controlknob (214) clockwise, as seen in FIG. 14B, to a second position. Inresponse to the rotation of articulation control knob (214), endeffector (212) pivots or bends at articulation joint (211) as seen inFIG. 14B to an articulation angle (α). In the illustrated version, endeffector (212) articulates generally in the direction of the rotation ofarticulation control knob (214), though it will be understood that endeffector (212) may be configured to bend in the opposite direction ofthe rotation of articulation control knob (214). In other words, whenarticulation control knob (214) is rotated clockwise, end effector (212)laterally pivots clockwise as shown in FIG. 14B; but could instead pivotcounter clockwise in some other versions.

FIG. 14B shows end effector (212) laterally pivoting clockwise justslightly. It will be understood that articulation control knob (214) maybe rotated further to cause end effector (212) to laterally articulatefurther at articulation joint (211) to any suitable angle (α). Forinstance, end effector (212) may pivot until an approximately 90° angleis formed across articulation joint (211). In some versions, endeffector (212) may be operable to pivot even further such that endeffector (212) forms an acute angle in relation to closure tube (232).Other suitable variations of end effector (212) pivoting will beapparent to one of ordinary skill in the art in view of the teachingsherein. It should also be understood that articulation control knob(214) may define the same angle with the longitudinal axis (LA) as thearticulation angle (α) defined between end effector (212) and thelongitudinal axis (LA). Such complementary angling may provide theoperator with visual feedback exterior to the patient, readilyindicating the articulation angle (α) of end effector (212).

It will be appreciated that articulation control knob (214) may berotated in the counter clockwise direction to cause end effector (212)to articulate in a counter clockwise manner. Thus, depending on thedesired direction and/or amount of articulation of end effector (212),the user can simply rotate articulation control knob (214) of varyingdegrees in the direction that the user wishes end effector (212) toarticulate to cause varying degrees of articulation of end effector(212). The mechanics of the articulation of end effector (212) will bediscussed in further detail below.

FIG. 15 shows articulation control knob (214) with casing (215) removedto better show the inner workings of articulation control knob (214).Articulation control knob (214) is in communication with an articulationpinion (250). Articulation pinion (250) is in communication with a firstrack (252) and a second rack (256). First rack (252) is in communicationwith a first arm (242) through a first intermediate block (254), whereassecond rack (256) is in communication with a second arm (240) through asecond intermediate block (256).

Articulation control knob (214) is unitarily coupled to articulationpinion (250). As a result, when the user turns articulation control knob(214), articulation pinion (250) rotates together with articulationcontrol knob (214). As articulation pinion (250) rotates, articulationpinion (250) translates first rack (252) and second rack (256)accordingly in opposing directions. For instance, as seen in FIG. 16,articulation pinion (250) is in communication with first rack (252) andsecond rack (256) such that if articulation pinion (250) rotatesclockwise, first rack (252) retracts proximally away from end effector(212) whereas second rack (256) advances distally toward end effector(212). Furthermore, when articulation pinion (250) rotatescounter-clockwise, first rack (252) advances distally toward endeffector (212) and second rack (256) retracts proximally away from endeffector (212). As first rack (252) advances and retracts, first arm(242) advances and retracts in a similar fashion. Similarly, as secondrack (256) advances and retracts, second arm (240) also advances andretracts with second rack (256). Thus, rotating articulation controlknob (214), which is connected to articulation pinion (250), causesfirst arm (242) and second arm (240) to move back and forth with firstrack (252) and second rack (256). Movement of first arm (242) and secondarm (240) causes movement of other components in end effector (212),which will be discussed in further detail below.

FIG. 17 shows a larger view of end effector (212), including anvil(218). First arm (242) and second arm (240) are in communication with afirst cam member (230). As a result, advancing and retracting first arm(242) and second arm (240) causes first cam member (230) to rotate abouta cam holding pin (279), as will be described in further detail below.

FIG. 18 shows an exploded view of end effector (212) and articulationjoint (211). End effector (212) comprises an anvil (218), a lower jaw(216), and a staple cartridge (275). Cartridge (275) comprises stapledrivers (243), a cartridge body (237), a tray (274), and wedge sled(241). It will be appreciated that anvil (218), lower jaw (216), tray(274), cartridge body (237), and wedge sled (241) are substantiallysimilar to anvil (60) lower jaw (50), tray (64), cartridge (70), andwedge sled (78) shown in FIG. 5. Generally, tray (274) is removablyreceived in lower jaw (216); and tray (274), cartridge body (237), andstaple drivers (243) snap together to form staple cartridge (275). Theproximal portions of anvil (218) and lower jaw (216) fit within closurering (270), which is in communication with articulation joint (211).Anvil (218) is operable to close against cartridge body (237) inresponse to distal advancement of closure ring (270), such that anvil(218) and cartridge body (237) can clamp tissue. As with closure ring(36) and closure tube (32) described above, closure ring (270) may beadvanced distally to close anvil (218) toward cartridge body (237) bydriving closure tube (232) distally in response to pivoting of closuretrigger (24) toward pistol grip (22). The clamped tissue may then bestapled and cut. In particular, after clamping tissue, wedge sled (241)is driven distally, which urges staple drivers (243) upwardly, whichdrives staples (not shown, but would otherwise be positioned abovestaple drivers (243) like staples (77) described above) through tissueand against anvil (218), anchoring the staples in tissue. Sled (241) inthe illustrated version is driven by a knife member (248), which issecured to and driven by a firing beam (219). As firing beam (219)advances, knife member (248) cuts tissue while driving sled (241).

End effector (212) of the present example further comprises resilient alockout feature (249) that is operable to cooperate with cam holdingbody (276) to selectively restrict advancement of knife member (248) inthe absence of an unfired cartridge (275) being loaded in lower jaw(216). By way of example only, lockout feature (249) and associatedcomponents may be configured and operable in accordance with at leastsome of the teachings of U.S. patent application Ser. No. 13/780,082,entitled “Lockout Feature for Movable Cutting Member of SurgicalInstrument,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein; and/or in accordance with at leastsome of the teachings of U.S. Pat. App. No. [Attorney Docket NumberEND7428USNP.0614271], entitled “Method of Using Lockout Features forSurgical Stapler Cartridge,” filed on even date herewith, the disclosureof which is incorporated by reference herein.

As best seen in FIGS. 18-20, articulation joint (211) comprises severalcomponents that will be discussed in further detail below. Generallyspeaking, articulation joint (211) comprises first cam member (230),second cam member (231), cam holding body (276), a channel pin (217),joint base (272), a lock bar (262), and a spring (264). Articulationjoint (211) is secured to end effector (212) via channel pin (217),which is disposed through a complementary opening (278) formed in secondcam member (231) and a complementary opening (219) of lower jaw (216).End effector (212) thus pivots unitarily with second cam member (231)about a pivot axis (280) defined by cam holding pin (279), providingarticulation of end effector (212), as will be described in greaterdetail below. Joint base (272) maintains a fixed longitudinal andangular position in shaft assembly (200), such that joint base (272)does not move relative to handle assembly (20); and such that joint base(272) provides a mechanical ground for articulation joint (211).

First arm (242) distally terminates in to a first hook (244), whilesecond arm (240) distally terminates in a second hook (246). Hooks (244,246) are in communication with cam openings (260) of first cam member(230). As a result, when first arm (242) advances toward end effector(212) and second arm (240) retracts, first cam member (230) rotatescounter clockwise. When first arm (242) instead retracts and second arm(240) advances toward end effector (212), first cam member (230) rotatesclockwise. Thus, as arms (242, 240) push and pull on cam openings (260)via hooks (244, 246), first cam member (230) rotates accordingly as justdescribed.

First cam member (230) is stacked on a second cam member (231). Secondcam member (231) and cam holding pin (279) are unitary features of camholding body (276). In some versions, second cam member (231) may beseparately constructed and fixedly coupled with cam holding body (276),such that as second cam member (231) rotates, cam holding body (276)rotates. First cam member (230) is rotationally coupled with cam holdingpin (279), which is coaxially aligned with base opening (277) of jointbase (272) along a pivot axis (280). Thus, first cam member (230) isrotatable about pivot axis (280), relative to second cam member (231),cam holding body (276), and joint base (272). Lock bar (262) is inselective communication with first cam member (230) and second cammember (231), which will be described further below. Lock bar (262) isfurther in communication with spring (264), which distally biases lockbar (262). Joint base (272) is shaped to provide a seat and/or channelfor lock bar (262) to longitudinally translate relative to joint base(272). Lock bar (262) further includes a pair of bosses (287) operableto engage joint base (272) to restrict distal motion of lock bar (262).

As discussed above, actuating articulation control knob (214) causesopposing advancement and retraction of arms (242, 240). It will beunderstood that this motion of arms (242, 240) rotates first cam member(230) about cam holding pin (279). As a result of rotating first cammember (230), second cam member (231) rotates with cam holding body(276). Thus, articulation joint (211) articulates, thereby pivoting endeffector (212) at articulation joint (211). In particular, cam holdingpin (279) and base opening (274) define a pivot axis (280), which isgenerally perpendicular to the longitudinal axis (LA). End effector(212) pivots about pivot axis (280) in response to the rotation of firstcam member (230), which drives second cam member (231) as will bediscussed below. FIGS. 19A-E illustrate the details of rotating firstcam member (230) to drive the articulation of end effector (212).

FIG. 19A shows articulation joint (211) in a first position. Lock bar(262) is distally biased to engage second cam member (231). Inparticular, the distal end of lock bar (262) comprises a lock tooth(236) that fits between first cam teeth (233) and second cam teeth (235)and abuts second cam member (231), which can be seen in further detailin FIG. 20. As a result of the distal bias provided by spring (264),lock tooth (236) acts as a positive lock and thus maintains therotational position of second cam member (231). By maintaining therotational position of second cam member (231), lock bar (262) maintainsthe angular position of end effector (212) about pivot axis (280),thereby maintaining any articulation angle (α). First cam member (230)comprises a pair of cam wings (238, 239), and cam holding body (276)comprises a pair of bosses (271, 273). Bosses (271, 273) are unitaryfeatures of second cam member (231) such that as bosses (271, 273)rotate, second cam member (231) also rotates. It will be appreciatedthat in the first position of FIG. 19A, cam wings (238, 239) and bosses(271, 273) define a small gap (261) therebetween. As a result, cam wings(238, 239) and bosses (271, 273) are not in contact. The interactioninvolving contact between cam wings (238, 239) and bosses (271, 273)will be described in further detail below with reference to FIGS. 19B-E.During a surgical operation, the user may guide shaft assembly (200)through a passageway (e.g. trocar, thoracotomy, etc.) to reach thesurgical area with end effector (212) in a straightened position asshown in FIG. 19A.

FIG. 20 shows an enlarged view of lock tooth (236) in the position shownin FIG. 19A. As can be seen in the illustrated version, lock tooth (236)has generally straight parallel sides (286) that are operable to fitbetween first cam teeth (233) and second cam teeth (235). The distal endof lock tooth (236) has a rounded tip (285) with angled sides (281)leading to parallel sides (286). Each tooth (235) of second cam teeth(235) comprises generally straight parallel sides (283) and angled sides(284). Parallel sides (283) are operable to engage parallel sides (286)of lock tooth (236) to prevent lock tooth (236) from riding along secondcam teeth (235) without assistance from first cam member (230). Thisengagement between at least one side (283) and at least one side (286)also prevents cam holding body (276) from rotating about pivot axis(280), thereby preventing end effector (212) from pivoting atarticulation joint (211).

Once first cam member (230) rotates as shown in FIGS. 19B-C and as willbe described in greater detail below, a rounded triangular tooth (233)of first cam member (230) will cam against angled sides (281), and willthereby drive lock bar (262) proximally in response to first cam (230)rotating. It should be understood that tooth (233) may have a variety ofdifferent shapes other than triangular. Lock tooth (236) movesproximally sufficiently such that angled sides (281) of lock tooth (236)can then eventually engage and ride along angled sides (284) of secondcam teeth (235) as first cam member (230) continues to rotate and assecond cam member (231) rotates. This provides further camming action todrive lock bar (262) proximally. Once lock tooth (236) traverses angledsides (284) of second cam teeth (235), then lock tooth (236) returnsdistally to a position between the next pair of first cam teeth (233)and second cam teeth (235) similar to the positioning shown in FIG. 20.For illustrative purposes, advancing lock tooth (236) between one set offirst cam teeth (233) and second cam teeth (235) to an adjacent set offirst cam teeth (233) and second cam teeth (235) may be considered onearticulation increment. As lock tooth (236) distally advances, locktooth (236) strikes second cam member (231) between second cam teeth(235). It will be understood that lock tooth (236) need not necessarilyextend far enough to strike second cam member (231). For instance, locktooth (236) may only extend distally such that parallel sides (283)prevent lock tooth (236) from riding along second cam member (231)without assistance from first cam teeth (233). In the illustratedversion, bosses (287) engage joint base (272) to prevent further distalmotion of lock bar (262).

As noted above, the operator may wish to pivot end effector (212) atarticulation joint (211) to better position end effector (212) inrelation to targeted tissue. FIG. 19B shows a second position forarticulation joint (211) to move to in response to turning articulationcontrol knob (214) shown in FIG. 15. In the illustrated version, theuser has turned articulation control knob (214) counter clockwise, whichrotates articulation pinion (250) counter clockwise as well. Asarticulation pinion (250) rotates counter clockwise, first rack (252)moves distally and second rack (256) moves proximally in relation to endeffector (212). Accordingly, first arm (242) and second arm (240) asshown in FIG. 19B move such that first arm (242) advances towardeffector (212) and second arm (240) retracts away from end effector(212). It will be appreciated that the distal portions of first arm(242) and second arm (240) of the illustrated version are not positionedparallel in relation to each other. Instead, first arm (242) and secondarm (240) are obliquely angled in relation to each other, though it willbe understood that first arm (242) and second arm (240) could bepositioned parallel to each other.

Movement of arms (242, 240) as seen in FIG. 19B causes first cam member(230) to rotate counter clockwise about pivot axis (280). As first cammember (230) rotates, two actions occur in a generally simultaneousmanner. First cam teeth (233) have a rounded triangular shape that urgeslock bar (262) proximally away from end effector (212) through a cammingaction as a result of first cam teeth (233) engaging angled sides (281).Again, teeth (233) may have a variety of different shapes other thantriangular. Spring (264) compresses to accommodate proximal motion oflock bar (262). As a result, rounded tip (285) moves proximallysufficient to traverse parallel sides (283). Additionally, cam wings(238, 239) rotate counter clockwise with first cam member (230). As aresult of the rotation, cam wing (239) removes gap (261) between boss(273) and engages boss (273). Meanwhile, cam wing (238) movesrotationally away from boss (271). It will be understood that whilefirst cam member (230) and lock bar (262) have moved in response to themovement of arms (242, 240) during the transition from the configurationshown in FIG. 19A to the configuration shown in FIG. 19B, second cammember (231) and accordingly end effector (212) have not yet moved.Thus, end effector (212) remains in a straight orientation at thisstage.

FIG. 19C shows a third position of articulation joint (211). It will beunderstood that the user continues to rotate articulation control knob(214) in an effort to articulate end effector (212). Arms (242, 240)continue to move such that first arm (242) moves distally and second arm(240) moves proximally. Movement of arms (242, 240) continues to rotatefirst cam member (230), which causes cam wing (239) to rotationally movefurther thereby urging boss (273) to rotationally move as well. Sinceboss (273) is unitary with second cam member (231), second cam member(231) begins to rotate. As second cam member rotates (231), lock bar(262) moves further proximally as a result of angled sides (284) cammingagainst angled sides (281) of lock tooth (236). Thus, lock tooth (236)rides along second cam teeth (235). Second cam member (231) rotatesuntil tip (288) of second cam member (231) engages rounded tip (285).Second cam teeth (235) have parallel sides (283) such that angled edges(281) of lock tooth (236) can engage angled sides (284) only after firstcam teeth (233) urges lock tooth (236) proximally such that rounded tip(285) traverses parallel sides (283). Prior to riding along first camteeth (233), lock tooth (236) is generally unable to ride along secondcam teeth (235) due to parallel sides (283) engaging parallel sides(286). It will further be appreciated that as lock tooth (236) ridesalong angled sides (284), lock tooth (236) disengages first cam teeth(233). As also seen in FIG. 19C, lock bar (262) and lock tooth (236)have moved to a proximal most position with just second cam teeth tip(288) being in contact with lock tooth (236). Also as a result ofrotation of second cam member (231), cam holding body (276) andaccordingly, sleeve (270), which leads to end effector (212),articulates in a counter clockwise direction.

FIG. 19D shows a fourth position for articulation region (211). Onceagain, it will be understood that user is continuing to rotatearticulation control knob (214) in an effort to cause furtherarticulation of end effector (212). Arms (242, 240) continue to movesuch that first arm (242) moves distally further and second arm (240)moves proximally further. Movement of arms (242, 240) continues torotate first cam member (230), which causes cam wing (239) to push boss(273) rotationally further. Lock tooth (236) continues to ride alongsecond cam teeth (235) until the distal bias caused by spring (264)urges lock bar (262) into the position shown in FIG. 19D. It will beappreciated that when lock bar (262) snaps into the position shown inFIG. 19D, an audible click or snap may be heard or felt. As a result,the user receives audible and/or tactile confirmation that lock tooth(236) has moved from between one set of cam teeth (233, 235) to anotheror otherwise has rotated by a single articulation increment. When in theposition shown in FIG. 19D, first cam member (230) stops rotating andlock tooth (236) fits between cam teeth (233, 235). Sleeve (270) andaccordingly end effector (212) stop articulating. A positive lock hasformed because any rotational motion of second cam member (231) urged bytransverse forces on end effector (212) would result in parallel sides(286) engaging parallel sides (283) and stopping any further rotation ofsecond cam member (231), which locks the articulation of end effector(212). It should be understood that the transition from theconfiguration shown in FIG. 19A to the configuration shown in FIG. 19Drepresents articulation through one articulation increment, or incrementof articulation motion, in which the distance is defined generally bythe spaces between second cam teeth (235).

It will be understood that in the position shown in FIG. 19D, endeffector (212) has articulated thereby providing the user with a shaftassembly (200) with an articulated end effector (212). It will beappreciated that the user may wish to use shaft assembly (200) in theposition shown in FIG. 19D or may wish to pivot end effector (212)further by one or more additional articulation increments. In the eventthat the user does not rotate articulation control knob (214) further,the locking of lock tooth (236) between first cam teeth (233) and secondcam teeth (235) prevents end effector (212) from pivoting to return to astraight position. Once end effector (212) has been articulated to adesired angle (α), it will be understood that the user may actuatefiring beam (213) to drive knife member (248) to cut and drive staplesthrough tissue. For instance, knife member (248) and firing beam (213)may be in communication through, for instance, a bendable beam such thatfiring beam (213) can advance through any degree of pivot ofarticulation joint (211).

FIG. 19E shows a fifth position for articulation joint (211) in theevent that the user wishes to pivot end effector (212) further. Onceagain, it will be understood that user continues to rotate articulationcontrol knob (214). As a result, arms (242, 240) continue to move suchthat first arm (242) moves distally further and second arm (240) movesproximally further. Movement of arms (242, 240) continues to rotatefirst cam member (230), which causes cam wing (239) to push boss (273)rotationally. First cam member (230) and second cam member (231) movesimilarly as shown in FIGS. 19B-D, which causes end effector (212) toarticulate further as well as lock in a more articulated position. Itwill be understood that the user may continue to rotate articulationcontrol knob (214) to cause end effector (212) to pivot as far as theuser desires. Furthermore, the user may rotate articulation control knob(214) in the opposite direction to cause arms (242, 240) and cam members(230, 231) to move in the opposite direction, thereby causing endeffector (212) to articulate in an opposite direction.

As seen in the exemplary actuation shown in FIGS. 19A-19E, first cammember (230) is operable to unlock articulation joint (211) and pivotend effector (212) at articulation joint (211) about pivot axis (280),by transferring motion from arms (242, 240) to first cam member (230).In addition, second cam member (231) and lock bar (262) cooperate tolock articulation joint (211), to thereby lock the angle (α) of endeffector (212) relative to the longitudinal axis (LA) of shaft assembly(200).

III. Exemplary Alternative Articulation Drive Features

As described above, some versions of articulation joint (211) are drivenby a pair of bendable arms (240, 242) that are laterally spaced apartfrom each other and that translate longitudinally in an opposingfashion, with the distal ends of arms (240, 242) being coupled witharticulation joint (211) at positions that are at the same longitudinalposition as the pivot axis (280) of articulation joint (211) yet thatare also laterally offset from the pivot axis (280). In some instances,it may be desirable to drive an articulation joint like articulationjoint (211) by a pair of translatable arms that are coupled with thearticulation joint at positions that are proximal to the pivot axis ofthe articulation joint instead of being laterally offset from the pivotaxis at the same longitudinal position as the pivot axis. In addition orin the alternative, it may be desirable to drive an articulation jointlike articulation joint (211) by a pair of translatable arms that arelaterally adjacent to each other instead of being laterally spaced apartfrom each other. In addition or in the alternative, it may be desirableto drive an articulation joint like articulation joint (211) by a singletranslatable arm that is laterally offset from the pivot axis of thearticulation joint.

Various merely illustrative examples of components and features that maybe used to drive an articulation joint like articulation joint (211) aredescribed in greater detail below. It should be understood that thefollowing examples may be readily incorporated into instrument (10) inplace of articulation joint (211). Various suitable ways in which thebelow described examples of articulation joints may be incorporated intoinstrument (10) will be apparent to those of ordinary skill in the artin view of the teachings herein.

It should also be understood that the articulation joints describedbelow may be selectively locked and unlocked (i.e., to selectivelymaintain a straight or articulated position) in various ways. By way ofexample only, the articulation joints described below may be selectivelylocked and unlocked in accordance with at least some of the teachingsabove. In addition or in the alternative, the articulation jointsdescribed below may be selectively locked and unlocked in accordancewith at least some of the teachings of U.S. patent application Ser. No.13/780,067, entitled “Surgical Instrument End Effector ArticulationDrive with Pinion and Opposing Racks,” filed Feb. 28, 2013, thedisclosure of which is incorporated by reference herein; at least someof the teachings of U.S. patent application Ser. No. 13/780,402,entitled “Surgical Instrument with Articulation Lock Having a DetentingBinary Spring,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein; and/or at least some of the teachingsof U.S. Pat. App. No. [Attorney Docket Number END7431USNP.0614277],entitled “Method of Unlocking Articulation Joint in Surgical Stapler,”filed on even date herewith, the disclosure of which is incorporated byreference herein. Various ways in which the teachings of the above-citedreferences may be combined with the teachings below will be apparent tothose of ordinary skill in the art in view of the teachings herein.Similarly, other suitable ways in which the articulation jointsdescribed below may be selectively locked and unlocked will be apparentto those of ordinary skill in the art in view of the teachings herein.

A. Exemplary Articulation Drive Member with Single Cam Slot

FIGS. 21A-21C show an exemplary alternative articulation joint (300)that may be readily incorporated into instrument (10). Articulationjoint (300) of this example comprises a cam member (310), which ispivotable about a pivot axis (312) defined by a pivot pin (314). Thedistal end of cam member (310) is secured to an end effector (320), suchthat end effector (320) will pivot with cam member (310) about pivotaxis (312) to thereby laterally deflect end effector (320) away from thelongitudinal axis of a shaft assembly (330), similar to the articulationshown in FIG. 14B. While FIGS. 21A-21C only show a closure sleeve (322)of end effector (320), it should be understood that end effector (320)may be configured and operable identically to end effectors (40, 212)described above. The proximal end of cam member (310) includes aplurality of proximally projecting teeth (316). Teeth (316) are similarto teeth cam teeth (235) and are thus operable to selectively engage acomplementary locking member (e.g., similar to lock bar (262), etc.), tothereby selectively lock a straight or articulated orientation of cammember (310) and end effector (320) relative to shaft assembly (330).Various suitable structures and techniques that may be used toselectively lock and unlock articulation joint (300) will be apparent tothose of ordinary skill in the art in view of the teachings herein.

As also shown in FIGS. 21A-21C, shaft assembly (330) of this examplecomprises a drive beam (340) and a closure tube (338). Drive beam (340)and closure tube (338) are each translatable relative to a handleassembly (e.g., such as handle assembly (20), etc.) or some other body;and relative to each other. While only a portion of closure tube (338)is shown, it should be understood that closure tube (338) may extend thefull length of shaft assembly (330) and may be pivotally coupled withthe proximal end of closure ring (322). Closure tube (338) and closurering (322) may thus translate together relative to the handle assemblyor other body, in order to selectively open and close an anvil of endeffector (320) relative to a lower jaw of end effector (320). Thepivotal coupling of closure tube (338) with closure ring (322) mayenable closure tube (338) and closure ring (322) to translate togethereven when articulation joint (300) is in an articulated state. Closuretube (338) may be longitudinally driven based on actuation of a userinput, such as closure trigger (24) or some other form of user input.Drive beam (340) may also be longitudinally driven based on actuation ofa user input, such as articulation control knob (214), a slider, and/orvarious other kinds of user input features. Various suitable featuresthat may be used to provide independent translation of closure tube(338) and drive beam (340) will be apparent to those of ordinary skillin the art in view of the teachings herein.

The distal end of drive beam (340) includes a pair of upwardly extendingintegral pins (342, 344). Pins (342, 344) are laterally offset from eachother but are at the same longitudinal position. Each pin (342, 344) isassociated with a respective drive arm (350, 360). In particular, theproximal end of a first drive arm (350) includes an elongate slot (352)in which pin (342) is disposed. The proximal end of a second drive arm(360) includes an elongate slot (362) in which pin (344) is disposed.The distal end of first drive arm (350) includes a downwardly extendingpin (354). Similarly, the distal end of second drive arm (360) includesa downwardly extending pin (364). Pins (354, 364) are both disposed in acurved slot (318) that is formed in cam member (310). Arms (350, 360)are slidably positioned adjacent to each other in this example. Itshould also be noted that pins (354) and curved slot (318) are locatedin a longitudinal region that is proximal to the longitudinal region ofpivot axis (312) and pivot pin (314). A set of frame structures (370,372) are configured to guide arms (350, 360) and keep arms (350, 360) ina parallel, adjacent relationship with each other. Frame structures(370, 372) nevertheless permit guide arms (350, 360) to translatelongitudinally within the channel defined between frame structure (370)and frame structure (372). It should be understood that frame structures(370, 372) may extend through shaft assembly (330) and into articulationjoint (300). By way of example only, distal portions of frame structures(370, 372) may be provided by a component that is similar to joint base(272) of articulation joint (212). Other suitable ways in which framestructures (370, 372) may be provided will be apparent to those ofordinary skill in the art in view of the teachings herein.

In operation, the state of articulation of articulation joint (300) isbased on the longitudinal position of drive beam (340) relative to theother components. In particular, FIG. 21A shows drive beam (340) in aneutral longitudinal position. In this position, pins (342, 344) arepositioned along a transverse neutral axis (NA), which is perpendicularto the longitudinal axis of shaft assembly (330). With drive beam (340)in the neutral longitudinal position, articulation joint (300) is in astraight, non-articulated state. In other words, end effector (320) isaligned with the longitudinal axis of shaft assembly (330). In thisstate, pin (342) is located in the proximal end of slot (352); while pin(344) is located in the distal end of slot (352). Also in this state,pins (354, 364) are at the same longitudinal position (albeit laterallyoffset from each other).

FIG. 21B shows drive beam (340) advanced to a distal position. In thisposition, pins (342, 344) are located distal to the neutral axis (NA).During the transition from the state shown in FIG. 21A to the stateshown in FIG. 21B, pin (344) has engaged drive arm (360), driving drivearm (360) distally. However, due to the elongate configuration of slot(352), pin (342) has simply travelled distally in slot (352) withoutdriving arm (350) distally. Drive beam (340) thus drives drive arm (360)distally relative to drive arm (350) when drive beam (340) is translateddistally from the neutral longitudinal position. As drive arm (360)translates distally, pin (364) travels in slot (318) of cam member(310). Due to the curved configuration of slot (318), this distal travelof pin (364) in slot (318) causes cam member (310) and end effector(320) to pivot counterclockwise about pivot axis (312). In someinstances, as cam member (310) and end effector (320) pivotcounterclockwise about pivot axis (312), cam member (310) will pulldistally on pin (354), thereby pulling drive arm (350) distally to somedegree. However, due to the distal travel of drive beam (340) during thetransition from the state shown in FIG. 21A to the state shown in FIG.21B, pin (342) may still be located within an intermediate region ofslot (352), such that incidental distal movement of drive arm (350) willnot result in contact between an end of slot (352) and pin (342). Itshould be understood from the foregoing that the articulation angle ofend effector (320) may vary as a function of the distal positioning ofdrive beam (340). It should also be understood that various kinds oflocking features may be used to selectively lock the articulatedposition of end effector (320). Various suitable forms that such lockingfeatures may take will be apparent to those of ordinary skill in the artin view of the teachings herein.

FIG. 21C shows drive beam (340) retracted to a proximal position. Inthis position, pins (342, 344) are located proximal to the neutral axis(NA). During the transition from the state shown in FIG. 21A to thestate shown in FIG. 21C, pin (342) has engaged drive arm (350), drivingdrive arm (350) proximally. However, due to the elongate configurationof slot (362), pin (344) has simply travelled proximally in slot (362)without driving arm (360) proximally. Drive beam (340) thus drives drivearm (350) proximally relative to drive arm (360) when drive beam (340)is translated proximally from the neutral longitudinal position. Asdrive arm (360) translates proximally, pin (354) travels in slot (318)of cam member (310). Due to the curved configuration of slot (318), thisproximal travel of pin (354) in slot (318) causes cam member (310) andend effector (320) to pivot clockwise about pivot axis (312). In someinstances, as cam member (310) and end effector (320) pivot clockwiseabout pivot axis (312), cam member (310) will push proximally on pin(364), thereby pushing drive arm (360) proximally to some degree.However, due to the proximal travel of drive beam (340) during thetransition from the state shown in FIG. 21A to the state shown in FIG.21C, pin (344) may still be located within an intermediate region ofslot (362), such that incidental proximal movement of drive arm (360)will not result in contact between an end of slot (362) and pin (344).It should be understood from the foregoing that the articulation angleof end effector (320) may vary as a function of the proximal positioningof drive beam (340). It should also be understood that various kinds oflocking features may be used to selectively lock the articulatedposition of end effector (320). Various suitable forms that such lockingfeatures may take will be apparent to those of ordinary skill in the artin view of the teachings herein.

B. Exemplary Articulation Drive Member with Pair of Bent Cam Slots

FIGS. 22A-22B show another exemplary alternative articulation joint(400) that may be readily incorporated into instrument (10).Articulation joint (400) of this example comprises a cam member (410),which is pivotable about a pivot axis (412) defined by a pivot pin(414). The distal end of cam member (410) is secured to an end effector(420), such that end effector (420) will pivot with cam member (410)about pivot axis (412) to thereby laterally deflect end effector (420)away from the longitudinal axis of a shaft assembly (430), similar tothe articulation shown in FIG. 14B. While FIGS. 22A-22B only show aclosure sleeve (422) of end effector (420), it should be understood thatend effector (420) may be configured and operable identically to endeffectors (40, 212) described above. The proximal end of cam member(410) includes a plurality of proximally projecting teeth (416). Teeth(416) are similar to teeth cam teeth (235) and are thus operable toselectively engage a complementary locking member (e.g., similar to lockbar (262), etc.), to thereby selectively lock a straight or articulatedorientation of cam member (410) and end effector (420) relative to shaftassembly (430). Various suitable structures and techniques that may beused to selectively lock and unlock articulation joint (400) will beapparent to those of ordinary skill in the art in view of the teachingsherein.

As also shown in FIGS. 22A-22B, shaft assembly (430) of this examplecomprises a rotary driver (440) and a closure tube (238). Rotary driver(440) is rotatable about an axis (441). Axis (441) is perpendicular tothe longitudinal axis of shaft assembly (430) and parallel to axis pivotaxis (412) of articulation joint (400). Closure tube (438) istranslatable relative to a handle assembly (e.g., such as handleassembly (20), etc.) or some other body. While only a portion of closuretube (438) is shown, it should be understood that closure tube (438) mayextend the full length of shaft assembly (430) and may be pivotallycoupled with the proximal end of closure ring (422). Closure tube (438)and closure ring (422) may thus translate together relative to thehandle assembly or other body, in order to selectively open and close ananvil of end effector (420) relative to a lower jaw of end effector(420). The pivotal coupling of closure tube (438) with closure ring(422) may enable closure tube (438) and closure ring (422) to translatetogether even when articulation joint (400) is in an articulated state.Closure tube (438) may be longitudinally driven based on actuation of auser input, such as closure trigger (24) or some other form of userinput. Rotary driver (440) may also be longitudinally driven based onactuation of a user input, such as articulation control knob (214)and/or various other kinds of user input features. Various suitablefeatures that may be used to provide translation of closure tube (438)and rotation of rotary driver (440) will be apparent to those ofordinary skill in the art in view of the teachings herein.

Rotary driver (440) includes a pair of upwardly extending integral pins(442, 444). Pins (442, 444) are laterally offset from each other but areat the same longitudinal position when rotary driver (440) is in theneutral angular position shown in FIG. 22A, such that pins (442, 444)are aligned with a neutral axis (NA), which is perpendicular to thelongitudinal axis of shaft assembly (430). Axis (441) orthogonallyintersects this neutral axis (NA) in addition to orthogonallyintersecting the longitudinal axis of shaft assembly (430). Each pin(442, 444) is associated with a respective drive arm (450, 460). Inparticular, pin (442) is pivotably disposed within the proximal end ofdrive arm (450); while pin (444) is pivotably disposed within theproximal end of drive arm (460). The distal end of first drive arm (450)includes a downwardly extending pin (454). Similarly, the distal end ofsecond drive arm (460) includes a downwardly extending pin (464). Pins(454, 464) are both disposed in respective slots (418, 419) that areformed in cam member (410). Each slot (418, 419) has a “V” shape, withthe crests of the “V” shapes pointing toward each other; and with the“V” shapes opening laterally outwardly in an opposing fashion. Whenrotary driver (440) is in the neutral angular position shown in FIG.22A, pins (454, 464) are both located in the crests of the “V” shapesdefined by slots (418, 419). Pins (454, 464) are thus laterally offsetfrom each other at the same longitudinal position.

In the present example at least a portion of each drive arm (450, 460)is flexible. For instance, when rotary driver (440) is in the neutralangular position shown in FIG. 22A, the proximal ends of drive arms(450, 460) bend to flare outwardly; while the distal ends of drive arms(450, 460) are straight and parallel with each other. When rotary driver(440) is rotated to a position such as that shown in FIG. 22B, thedistal end of at least one arm (450, 460) bends to flare outwardly;while the proximal ends of drive arms (450, 460) are straight andparallel with each other. In some versions, the material forming drivearms (450, 460) is flexible to permit such pending. In some otherversions, the material forming drive arms (450, 460) is rigid, yet eachdrive arm (450, 460) includes at least two segments with a hingedcoupling permitting one segment to bend or pivot relative to the othersegment. Other suitable ways in which drive arms (450, 460) may provideflaring or other deformation will be apparent to those of ordinary skillin the art in view of the teachings herein. It should also be understoodthat shaft assembly (430) and/or articulation joint (400) may includeone or more frame structures (e.g., similar to frame structures (370,372) described above) to maintain the positioning, spacing, and/orconfiguration of intermediate portions of drive arms (450, 460).

In operation, the state of articulation of articulation joint (400) isbased on the angular position of rotary driver (440) about axis (441).In particular, FIG. 22A shows rotary driver (440) in a neutral angularposition. In this position, pins (442, 444) are positioned along thetransverse neutral axis (NA). With rotary driver (440) in the neutralangular position, articulation joint (400) is in a straight,non-articulated state. In other words, end effector (420) is alignedwith the longitudinal axis of shaft assembly (430). In this state, pins(454, 464) are at the same longitudinal position (albeit laterallyoffset from each other).

FIG. 22B shows rotary driver (440) rotated clockwise from the neutralangular position. In this position, pins (442, 444) have orbited aboutaxis (441) such that pin (442) is now located proximally in relation tothe neutral axis (NA); and pin (444) is now located distally in relationto the neutral axis (NA). During the transition from the state shown inFIG. 22A to the state shown in FIG. 22B, pin (442) has pulled drive arm(450) proximally; while pin (444) has pushed drive arm (460) distally.As drive arm (450) translates proximally, pin (454) travels into theproximal portion of slot (418). As drive arm (460) translates distally,pin (464) travels distally into the distal portion of slot (419). Due tothe “V” shaped configuration of slots (418, 419). The above-describedmotion of pins (454, 464) in corresponding slots (418, 419) causes cammember (410) and end effector (420) to pivot clockwise about pivot axis(412). To return cam member (410) and end effector (420) to thestraight, neutral position, the operator may simply rotate rotary driver(440) counterclockwise from the position shown in FIG. 22B to theposition shown in FIG. 22A. To drive cam member (410) and end effector(420) further counterclockwise from the position shown in FIG. 22A to acounterclockwise articulated position, the operator may rotate rotarydriver (440) counterclockwise from the position shown in FIG. 22A to aposition where end effector (420) has reached the desired degree ofarticulation.

It should be understood from the foregoing that the articulation angleof end effector (420) may vary as a function of the angular positioningrotary driver (440). While rotary driver (440) is coupled with drivearms (450, 460) via pins (442, 444) in this example, various other kindsof couplings may be used. By way of example only, rotary driver (440)may include an integral pinion, while the proximal end of each drive arm(450, 460) may include an integral rack, such that the racks are engagedwith corresponding opposite sides of the pinion. Other suitable featuresand relationships will be apparent to those of ordinary skill in the artin view of the teachings herein. It should also be understood thatvarious kinds of locking features may be used to selectively lock thearticulated position of end effector (420). Various suitable forms thatsuch locking features may take will be apparent to those of ordinaryskill in the art in view of the teachings herein.

C. Exemplary Articulation Drive Member with Pair of Straight Cam Slots

FIGS. 23A-23B show another exemplary alternative articulation joint(500) that may be readily incorporated into instrument (10).Articulation joint (500) of this example comprises a cam member (510),which is pivotable about a pivot axis (512) defined by a pivot pin(514). The distal end of cam member (510) is secured to an end effector(520), such that end effector (520) will pivot with cam member (510)about pivot axis (512) to thereby laterally deflect end effector (520)away from the longitudinal axis of a shaft assembly (530), similar tothe articulation shown in FIG. 14B. While FIGS. 23A-23B only show aclosure sleeve (522) of end effector (520), it should be understood thatend effector (520) may be configured and operable identically to endeffectors (40, 212) described above. The proximal end of cam member(510) includes a plurality of proximally projecting teeth (516). Teeth(516) are similar to teeth cam teeth (235) and are thus operable toselectively engage a complementary locking member (e.g., similar to lockbar (262), etc.), to thereby selectively lock a straight or articulatedorientation of cam member (510) and end effector (520) relative to shaftassembly (530). Various suitable structures and techniques that may beused to selectively lock and unlock articulation joint (500) will beapparent to those of ordinary skill in the art in view of the teachingsherein.

As also shown in FIGS. 23A-23B, shaft assembly (530) of this examplecomprises a closure tube (538). Closure tube (538) is translatablerelative to a handle assembly (e.g., such as handle assembly (20), etc.)or some other body. While only a portion of closure tube (538) is shown,it should be understood that closure tube (538) may extend the fulllength of shaft assembly (530) and may be pivotally coupled with theproximal end of closure ring (522). Closure tube (538) and closure ring(522) may thus translate together relative to the handle assembly orother body, in order to selectively open and close an anvil of endeffector (520) relative to a lower jaw of end effector (520). Thepivotal coupling of closure tube (538) with closure ring (522) mayenable closure tube (538) and closure ring (522) to translate togethereven when articulation joint (500) is in an articulated state. Closuretube (538) may be longitudinally driven based on actuation of a userinput, such as closure trigger (24) or some other form of user input.Various suitable features that may be used to provide translation ofclosure tube (538) will be apparent to those of ordinary skill in theart in view of the teachings herein.

Shaft assembly (530) further includes a pair of drive arms (550, 560)within closure tube (538). Drive arms (550, 560) are operable totranslate longitudinally in an opposing fashion relative to closure tube(538). Various kinds of drive actuators may be coupled with the proximalends of drive arms to provide such opposing translation of drive arms(550, 560). By way of example only, drive arms (550, 560) may be coupledwith a rotary driver similar to rotary driver (440) described above. Asanother merely illustrative example, the proximal end of each drive arm(550, 560) may include an integral rack, such that the racks are engagedwith corresponding opposite sides of a pinion. The pinion may bemanually rotatable through an input such as articulation control knob(214) and/or various other kinds of user input features. Varioussuitable features that may be used to provide opposing translation ofdrive arms (550, 560) will be apparent to those of ordinary skill in theart in view of the teachings herein.

The distal end of first drive arm (550) includes a downwardly extendingpin (554). Similarly, the distal end of second drive arm (560) includesa downwardly extending pin (564). Pins (554, 564) are both disposed inrespective slots (518, 519) that are formed in cam member (510). Eachslot (518, 519) is straight in this example; and slots (518, 519) areparallel with each other. When the actuator that drives drive arms (550,560) is in a neutral position, pins (554, 564) and pivot axis (564) areall located at the same longitudinal position, along a transverselyextending neutral axis (NA), at positions that are laterally offset fromeach other. Each pin (554, 564) is also located in the longitudinallycentral position of the corresponding slot (518, 519). The neutral axis(NA) is perpendicular to the longitudinal axis of shaft assembly (530).

In the present example at least a distal portion of each drive arm (550,560) is flexible. For instance, while the distal portions of drive arms(550, 560) are straight when end effector (520) is in the straightposition shown in FIG. 23A, the distal portions of drive arms (550, 560)bend to flare outwardly when end effector (520) is in the articulatedposition shown in FIG. 23B. In some versions, the material forming drivearms (550, 560) is flexible to permit such pending. In some otherversions, the material forming drive arms (550, 560) is rigid, yet eachdrive arm (550, 560) includes at least two segments with a hingedcoupling permitting one segment to bend or pivot relative to the othersegment. Other suitable ways in which drive arms (550, 560) may provideflaring or other deformation will be apparent to those of ordinary skillin the art in view of the teachings herein. It should also be understoodthat shaft assembly (530) and/or articulation joint (500) may includeone or more frame structures (e.g., similar to frame structures (370,372) described above) to maintain the positioning, spacing, and/orconfiguration of other portions of drive arms (550, 560).

In operation, the state of articulation of articulation joint (500) isbased on the relative longitudinal positioning of drive arms (550, 560).In particular, FIG. 23A shows drive arms (550, 560) in a neutralposition where pins (554, 564) are positioned along the same transverseneutral axis (NA), which is perpendicular to the longitudinal axis ofthe shaft assembly. With drive arms (550, 560) in this neutral position,articulation joint (500) is in a straight, non-articulated state. Inother words, end effector (520) is aligned with the longitudinal axis ofshaft assembly (530). FIG. 23B shows drive arms (550, 560) driven suchthat drive arm (550) has translated distally and drive arm (560) hastranslated proximally. Pin (554) is now located distally in relation tothe neutral axis (NA); and pin (564) is now located proximally inrelation to the neutral axis (NA). Pin (554) has traveled to the distalend of slot (518); and pin (564) has traveled to the proximal end ofslot (519). Once pins (554, 564) have reached the corresponding opposingends of slots (518, 519), and drive arms (550, 560) continue totranslate in an opposing fashion, further opposing translation of drivearms (550, 560) causes cam member (510) and end effector (520) to pivotclockwise about pivot axis (512). To return cam member (510) and endeffector (520) to the straight, neutral position, the operator maysimply actuate a drive actuator to translate drive arm (550) proximallywhile translating drive arm (560) distally from the position shown inFIG. 23B to the position shown in FIG. 23A. To drive cam member (510)and end effector (520) further counterclockwise from the position shownin FIG. 23A to a counterclockwise articulated position, the operator mayfurther actuate the drive actuator to further translate drive arm (550)proximally while translating drive arm (560) distally from the positionshown in FIG. 23A to a position where end effector (520) has reached thedesired degree of articulation.

It should be understood from the foregoing that the articulation angleof end effector (520) may vary as a function of the relativelongitudinal positioning of drive arms (550, 560). Other suitablefeatures and relationships will be apparent to those of ordinary skillin the art in view of the teachings herein. It should also be understoodthat various kinds of locking features may be used to selectively lockthe articulated position of end effector (520). Various suitable formsthat such locking features may take will be apparent to those ofordinary skill in the art in view of the teachings herein.

D. Exemplary Articulation Drive Member with Dual Linkage

FIGS. 24A-24B show another exemplary alternative articulation joint(600) that may be readily incorporated into instrument (10).Articulation joint (600) of this example comprises a proximal member(610), a distal member (620), and a rigid link (630). The proximal endof link (630) is pivotally coupled with the distal end of proximalmember (610). The distal end of link (630) is pivotally coupled with theproximal end of distal member (620). Link (630) thus provides a pivotalcoupling between members (610, 620). Proximal member (610) may befixedly secured relative to shaft assembly (200) and handle assembly(20), in a manner similar to joint base (272) described above. Distalmember (620) may be secured to an end effector (212), such that endeffector (212) will pivot with distal member (620), in a manner similarto second cam member (231).

A driving linkage assembly (640) extends through the shaft assembly(e.g., such as shaft assembly (200), etc.) and is operable to translaterelative to the shaft assembly. Driving linkage assembly (640) comprisesa proximal link (642) and a distal link (644). Proximal link (642)extends along or through proximal member (610) and is longitudinallytranslatable relative to proximal member (610). In the present example,proximal link (642) is laterally offset from the longitudinal axis (LA)of articulation joint (600), such that proximal link (642) extends alongone lateral side of proximal member (610). Links (642, 644) arepivotally coupled together via a pin (646), which is longitudinallypositioned between members (610, 620). Pin (646) is disposed at thedistal end of proximal link (642) and at the proximal end of distal link(644). The distal end of distal link (644) is pivotally coupled withdistal member (620) via another pin (648). This pivotal coupling betweendistal link (644) and distal member (620) is laterally offset from thelongitudinal axis (LA) of articulation joint (600).

In operation, driving linkage assembly (640) is driven distally from theposition shown in FIG. 24A to the position shown in FIG. 24B. By way ofexample only, driving linkage assembly (640) may be coupled with a userinput feature such as a slider, trigger, rotary actuator (e.g., via arack and pinion relationship, etc.), and/or any other kind of user inputfeatures. Various suitable kinds of user input features that may be usedto drive driving linkage assembly longitudinally (640) will be apparentto those of ordinary skill in the art in view of the teachings herein.As seen in the transition from FIG. 24A to FIG. 24B, distal movement ofdriving linkage assembly (640) causes distal member (620) to deflectlaterally away from the longitudinal axis (LA) by an articulation angle(α). In particular, distal member (620) has pivoted clockwise. Thismovement is provided by a combination of link (630) maintaining a fixedlongitudinal distance between members (610, 620) at the lateralmid-region of members (610, 620); and distal link (644) pivoting at pin(646). It should be understood that this movement of distal member (620)will provide articulation of the end effector that is coupled withdistal member (620) at the selected articulation angle (α).

In order to return distal member (620) and the end effector from thearticulated position shown in FIG. 24B to the straight position shownFIG. 24B, the operator may simply retract driving linkage assembly (640)proximally. To articulate distal member (620) and the end effectorcounterclockwise from the position shown in FIG. 24A, the operator maycontinue to retract driving linkage assembly (640) proximally. This maycause distal link (644) to pivot counterclockwise about pin (646),thereby causing distal member (620) and the end effector to pivotcounterclockwise to an articulated state.

It should be understood from the foregoing that the articulation angle(α) of distal member (620) and the end effector may vary as a functionof the longitudinal position of driving linkage assembly (640). Thelaterally offset positioning of driving linkage assembly (640) mayenable articulation joint (600) to achieve articulation angles (α) thatare greater than articulation angles achievable by other articulationjoints described herein (e.g., greater than 45°, and in some versionsgreater than 90°). Other suitable features and relationships will beapparent to those of ordinary skill in the art in view of the teachingsherein. It should also be understood that various kinds of lockingfeatures may be used to selectively lock the articulated position of theend effector. Various suitable forms that such locking features may takewill be apparent to those of ordinary skill in the art in view of theteachings herein.

E. Exemplary Articulation Drive Member with Single Linkage

FIGS. 25-26 show another exemplary alternative articulation joint (700)that may be readily incorporated into instrument (10). Articulationjoint (700) of this example comprises a driving linkage assembly (710),a frame ground (770), and a cam member (780). Cam member (780) ispivotable about a pivot axis (782) defined by a pivot pin (784). Thedistal end of cam member (780) is secured to an end effector (790), suchthat end effector (790) will pivot with cam member (780) about pivotaxis (782) to thereby laterally deflect end effector (790) away from thelongitudinal axis of a shaft assembly, similar to the articulation shownin FIG. 14B. While FIG. 25 only shows a closure sleeve (792) of endeffector (790), it should be understood that end effector (790) may beconfigured and operable identically to end effectors (40, 212) describedabove. The proximal end of cam member (780) includes a plurality ofproximally projecting teeth (786). Teeth (786) are similar to teeth camteeth (235) and are thus operable to selectively engage a complementarylocking member (e.g., similar to lock bar (262), etc.), to therebyselectively lock a straight or articulated orientation of cam member(780) and end effector (790) relative to the shaft assembly. Varioussuitable structures and techniques that may be used to selectively lockand unlock articulation joint (700) will be apparent to those ofordinary skill in the art in view of the teachings herein.

Driving linkage assembly (710) extends through a shaft assembly (notshown) and translates longitudinally relative to the shaft assembly.Driving linkage assembly (710) comprises a proximal link (720), a distallink (730), and a pin (740). In the present example, proximal link (720)is longitudinally offset from the longitudinal axis of the shaftassembly, though it should be understood that proximal link (720) may bepositioned along or over the longitudinal axis of the shaft assembly insome other versions. Pin (740) pivotably couples links (720, 730)together. Pin (740) is disposed at the distal end of proximal link (720)and at the proximal end of distal link (730). The distal end of distallink (730) is pivotally coupled with cam member (780) via another pin(732). This pivotal coupling between distal link (730) and cam member(780) is laterally offset from the pivot axis (782) of articulationjoint (700). A transverse neutral axis, which is perpendicular to thelongitudinal axis of the shaft assembly, passes through pin (732) andpivot axis (782).

As best seen in FIG. 26, pin (740) includes a central shaft section(742), an upper head (744), and a lower head (746). Central shaftsection (742) passes through links (720, 730) and through an elongateslot (772) that is defined in a frame ground member (770). Frame groundmember (770) is defined in the shaft assembly and is configured tomaintain stationary relative to the operator during operation of aninstrument incorporating articulation joint (700). By way of exampleonly, frame ground member (770) may be provided by a modified version ofjoint base (272). Slot (772) is configured to allow central shaftsection (742) to translate longitudinally within slot (772); yet slot(772) also prevents lateral movement of central shaft section (742) inslot (772). Lower head (746) assists in retaining pin (740) in slot(772) by preventing pin (740) from traveling upwardly along the axis ofpin (740). Upper head (744) prevents pin (740) from traveling downwardlyalong the axis of pin (740). In the present example, the configurationof pin (740) and slot (772) ensures that proximal link (720) remainsparallel with slot (772) and the longitudinal axis of the shaftassembly, including when proximal link (720) is translatedlongitudinally. It should also be understood that pin (740) is in thelongitudinal mid-point of slot (772) in the state shown in FIG. 25. Inthis state, end effector (790) is in a straight, non-articulatedorientation, such that end effector (790) is aligned with thelongitudinal axis of the shaft assembly. In some other versions, slot(772) is replaced with a channel, recess, or other kind of guide featureconfigured to guide pin (740).

In operation, the state of articulation joint (400) is based on thelongitudinal position of driving linkage assembly (710). Driving linkageassembly (710) may be driven distally or proximally from the positionshown in FIG. 25 by actuating a user input feature. By way of exampleonly, driving linkage assembly (710) may be coupled with a user inputfeature such as a slider, trigger, rotary actuator (e.g., via a rack andpinion relationship, etc.), and/or any other kind of user inputfeatures. Various suitable kinds of user input features that may be usedto drive driving linkage assembly longitudinally (710) will be apparentto those of ordinary skill in the art in view of the teachings herein.

When driving linkage assembly (710) is driven distally, pin (740)travels distally in slot (772). Since cam member (780) remains in alongitudinally fixed position, this distal movement of pin (740) causesdistal link (730) to pivot about pin (740), which further causes cammember (780) to pivot counterclockwise about pivot axis (782). Thus, endeffector (790) is rotated counterclockwise about pivot axis (782) toreach an articulated position in response to distal translation ofdriving linkage assembly (710). When driving linkage assembly (710) isdriven proximally, pin (740) travels proximally in slot (772). Since cammember (780) remains in a longitudinally fixed position, this proximalmovement of pin (740) causes distal link (730) to pivot about pin (740),which further causes cam member (780) to pivot clockwise about pivotaxis (782). Thus, end effector (790) is rotated clockwise about pivotaxis (782) to reach an articulated position in response to proximaltranslation of driving linkage assembly (710).

It should be understood from the foregoing that the articulation angleof cam member (780) and end effector (790) may vary as a function of thelongitudinal position of driving linkage assembly (710). While just onedriving linkage assembly (710) is provided in the present example, othervariations may include two driving linkage assemblies (710). Forinstance, such driving linkage assemblies (710) may be provided onlaterally opposite sides of the longitudinal axis of the shaft assembly;and the driving linkage assemblies (710) may be driven longitudinally inan opposing fashion as described herein in order to drive articulationof end effector (790). In some versions, arms (240, 242) of articulationjoint (211) are replaced with respective driving linkage assemblies(710). In other words, the bendability of arms (240, 242) may besubstituted with the pivotal relationship between rigid links (720,730). Other suitable features and relationships will be apparent tothose of ordinary skill in the art in view of the teachings herein. Itshould also be understood that various kinds of locking features may beused to selectively lock the articulated position of end effector (700).Various suitable forms that such locking features may take will beapparent to those of ordinary skill in the art in view of the teachingsherein.

IV. Miscellaneous

It should be understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Theabove-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof any of the following: U.S. Pat. No. 5,792,135, entitled “ArticulatedSurgical Instrument For Performing Minimally Invasive Surgery WithEnhanced Dexterity and Sensitivity,” issued Aug. 11, 1998, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.5,817,084, entitled “Remote Center Positioning Device with FlexibleDrive,” issued Oct. 6, 1998, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 5,878,193, entitled “Automated EndoscopeSystem for Optimal Positioning,” issued Mar. 2, 1999, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 6,231,565,entitled “Robotic Arm DLUS for Performing Surgical Tasks,” issued May15, 2001, the disclosure of which is incorporated by reference herein;U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool with UltrasoundCauterizing and Cutting Instrument,” issued Aug. 31, 2004, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,364,888, entitled “Alignment of Master and Slave in a MinimallyInvasive Surgical Apparatus,” issued Apr. 2, 2002, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,524,320,entitled “Mechanical Actuator Interface System for Robotic SurgicalTools,” issued Apr. 28, 2009, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,691,098, entitled “Platform Link WristMechanism,” issued Apr. 6, 2010, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,806,891, entitled “Repositioningand Reorientation of Master/Slave Relationship in Minimally InvasiveTelesurgery,” issued Oct. 5, 2010, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2013/0012957, entitled“Automated End Effector Component Reloading System for Use with aRobotic System, published Jan. 10, 2013, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0199630, entitled“Robotically-Controlled Surgical Instrument with Force-FeedbackCapabilities,” published Aug. 9, 2012, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0132450, entitled“Shiftable Drive Interface for Robotically-Controlled Surgical Tool,”published May 31, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199633, entitled “SurgicalStapling Instruments with Cam-Driven Staple Deployment Arrangements,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199631, entitled“Robotically-Controlled Motorized Surgical End Effector System withRotary Actuated Closure Systems Having Variable Actuation Speeds,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199632, entitled“Robotically-Controlled Surgical Instrument with SelectivelyArticulatable End Effector,” published Aug. 9, 2012, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2012/0203247,entitled “Robotically-Controlled Surgical End Effector System,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0211546, entitled “Drive Interfacefor Operably Coupling a Manipulatable Surgical Tool to a Robot,”published Aug. 23, 2012; U.S. Pub. No. 2012/0138660, entitled“Robotically-Controlled Cable-Based Surgical End Effectors,” publishedJun. 7, 2012, the disclosure of which is incorporated by referenceherein; and/or U.S. Pub. No. 2012/0205421, entitled“Robotically-Controlled Surgical End Effector System with RotaryActuated Closure Systems,” published Aug. 16, 2012, the disclosure ofwhich is incorporated by reference herein.

Versions of the devices described above may be designed to be disposedof after a single use, or they can be designed to be used multipletimes. Versions may, in either or both cases, be reconditioned for reuseafter at least one use. Reconditioning may include any combination ofthe steps of disassembly of the device, followed by cleaning orreplacement of particular pieces, and subsequent reassembly. Inparticular, some versions of the device may be disassembled, and anynumber of the particular pieces or parts of the device may beselectively replaced or removed in any combination. Upon cleaning and/orreplacement of particular parts, some versions of the device may bereassembled for subsequent use either at a reconditioning facility, orby a user immediately prior to a procedure. Those skilled in the artwill appreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

1-15. (canceled)
 16. An apparatus comprising: (a) a shaft having alongitudinal axis; (b) an end effector; (c) an articulation jointcoupling the shaft with the end effector, wherein the end effector ispivotable at the articulation joint to selectively deflect the endeffector away from the longitudinal axis of the shaft, wherein thearticulation joint comprises a joint link, wherein the joint link isconfigured to separate the shaft from the end effector, wherein thejoint link is further configured to permit the end effector to pivotrelative to the shaft; and (d) a linkage assembly, wherein the linkageassembly is laterally offset from the joint link, wherein the linkageassembly is operable to translate relative to the shaft to thereby pivotthe end effector at the articulation joint.
 17. The apparatus of claim16, wherein the end effector is operable to staple tissue.
 18. Theapparatus of claim 16, wherein the linkage assembly comprises: (i) afirst link, and (ii) a second link, wherein the second link is pivotablycoupled with the first link, wherein the second link is furtherpivotably coupled with the end effector.
 19. The apparatus of claim 18,wherein the first link is operable to translate longitudinally relativeto the shaft along a path that is parallel to the longitudinal axis ofthe shaft.
 20. (canceled)
 21. The apparatus of claim 18, wherein aproximal end of the first link is pivotably coupled with the shaft. 22.The apparatus of claim 18, wherein the first and second links arepivotably coupled together with a first pin, wherein the second link ispivotably coupled with the end effector with a second pin.
 23. Theapparatus of claim 18, wherein each of the first link and the secondlink is laterally offset from the longitudinal axis of the shaft. 24.The apparatus of claim 18, wherein the joint link is configured toremain laterally offset from each of the first link and the second linkas the end effector pivots at the articulation joint.
 25. The apparatusof claim 16, wherein the joint link is configured to extend parallel tothe longitudinal axis of the shaft when the end effector is in anon-articulated state.
 26. The apparatus of claim 25, wherein the jointlink is configured to extend coaxially with the longitudinal axis whenthe end effector is in the non-articulated state.
 27. The apparatus ofclaim 25, wherein the joint link is configured to extend angularlyrelative to the longitudinal axis when the end effector is in anarticulated state.
 28. The apparatus of claim 16, wherein the joint linkis rigid.
 29. The apparatus of claim 16, wherein the end effector isconfigured to extend coaxially with the shaft when the end effector isin a non-articulated state.
 30. The apparatus of claim 16, furthercomprising a body having an articulation control feature, wherein theend effector is configured to articulate relative to the shaft at thearticulation joint in response to actuation of the articulation controlfeature.
 31. The apparatus of claim 30, wherein the articulation controlfeature comprises a knob.
 32. An apparatus comprising: (a) a shafthaving a longitudinal axis; (b) an end effector; (c) an articulationjoint coupling the shaft with the end effector, wherein the end effectoris pivotable at the articulation joint to selectively deflect a distalend of the end effector away from the longitudinal axis of the shaft,wherein the articulation joint comprises a joint link pivotably coupledwith the shaft and the end effector, wherein the joint link isconfigured to permit the end effector to pivot relative to the shaft;and (d) a linkage assembly operatively coupled with the end effector,wherein the linkage assembly is operable to pivotably actuate the endeffector relative to the shaft at the articulation joint.
 33. Theapparatus of claim 32, wherein the linkage assembly comprises a firstlink and a second link pivotably coupled with a distal end of the firstlink, wherein a distal end of the second link is pivotably coupled withthe end effector.
 34. The apparatus of claim 33, wherein the first andsecond links are laterally offset from the joint link.
 35. The apparatusof claim 32, wherein the linkage assembly is translatable relative theshaft to pivotably actuate the end effector relative to the shaft at thearticulation joint.
 36. An apparatus comprising: (a) a shaft having alongitudinal axis, wherein the shaft includes a frame ground member,wherein the frame ground member includes an elongate guide feature; (b)an end effector; (c) an articulation joint coupling the shaft with theend effector, wherein the end effector is pivotable at the articulationjoint to selectively deflect the end effector away from the longitudinalaxis of the shaft; and (d) an articulation drive assembly, wherein thearticulation drive assembly is operable to pivot the end effector at thearticulation joint, wherein the articulation drive assembly comprises:(i) a first link, (ii) a second link, and (iii) a pin pivotably couplingthe first link and the second link, wherein the pin is engaged with theelongate guide feature, wherein the second link is further pivotablycoupled with the end effector.